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APPENDIX
AP-6
RMC – Recommended minimum specific GNSS data
$GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a,a*hh<CR><LF>
1 2 3 4 5 6 7 8 9 10
11 12
1. UTC of position fix (000000 - 235959)
2. Status (A=data valid, V=navigation receiver warning)
3. Latitude (0.0000 - 9000.0000)
4. N/S
5. Longitude (0.0000 - 18000.0000)
6. E/W
7. Speed over ground, knots (0.0 - 9999.9)
8. Course over ground, degrees true (0.0 - 359.0)
9. Date (010100 - 311299)
10. Magnetic variation, degrees E/W (0.0 - 180.0/NULL)
11. E/W
12. Mode indicator (A= Autonomous D=Differential mode E=Estimated (dead reckoning mode)
M=Manual input mode S= Simulator N: Data not valid)
ROT – Rate of turn
ROT derived from a changing rate of GPS compass heading.
$--ROT, x.x, A*hh<CR><LF>
Status: A = data valid
Rate of turn, degrees/min, “-” = bow turns to port
VBW - Dual ground/water speed
$**VBW,x.x,x.x,x,x.x,x.x,x,x.x,x,x.x,x,*hh<CR><LF>
1 2 3 4 5 6 7 8 9 10
1. Longitudinal water speed, knots (-9999.99 - 9999.99)
2. Transverse water speed, knots (-9999.99 - 9999.99)
3. Status: water speed, A=data valid V=data invalid
4. Longitudinal ground speed, knots (-9999.99 - 9999.99)
5. Transverse ground speed, knots (-9999.99 - 9999.99)
6. Status: ground speed, A=data valid V=data invalid
7. Stern transverse water speed, knots (-9999.99 - 9999.99)
8. Status: stern water speed, A=data valid V=data invalid
9. Stern transverse ground speed, knots (-9999.99 - 9999.99)
10. Status: stern ground speed, A=data valid V=data invalid
Note: #7 to #10 with IEC ED2 only.
VDR - Set and drift
$--VDR,x.x,T,x.x,M,x.x,N*hh<CR><LF>
| | | | | | |
| | | | | | +--------- 4
| | | | +--+----------- 3
| | +--+----------------- 2
+--+----------------------- 1
1. Direction, degrees true
2. Direction, degrees magnetic
3. Current speed, knots
4. Checksum