原创 NMEA0183协议

2007-11-8 12:51 6277 9 9 分类: 汽车电子

Glenn Baddeley - GPS - NMEA sentence information<?xml:namespace prefix = o ns = "urn:schemas-microsoft-com:office:office" />


All $GPxxx sentence codes and short descriptions


 


·                $GPAAM - Waypoint Arrival Alarm


·                $GPALM - GPS Almanac Data


·                $GPAPA - Autopilot format "A"


·                $GPAPB - Autopilot format "B"


·                $GPASD - Autopilot System Data


·                $GPBEC - Bearing & Distance to Waypoint, Dead Reckoning


·                $GPBOD - Bearing, Origin to Destination


·                $GPBWC - Bearing & Distance to Waypoint, Great Circle


·                $GPBWR - Bearing & Distance to Waypoint, Rhumb Line


·                $GPBWW - Bearing, Waypoint to Waypoint


·                $GPDBT - Depth Below Transducer


·                $GPDCN - Decca Position


·                $GPDPT - Depth


·                $GPFSI - Frequency Set Information


·                $GPGGA - Global Positioning System Fix Data


·                $GPGLC - Geographic Position, Loran-C


·                $GPGLL - Geographic Position, Latitude/Longitude


·                $GPGRS - <?xml:namespace prefix = st1 ns = "urn:schemas-microsoft-com:office:smarttags" />GPSRange Residuals


·                $GPGSA - GPS DOP and Active Satellites


·                $GPGST - GPSPseudorange Noise Statistics


·                $GPGSV - GPS Satellites in View


·                $GPGXA - TRANSIT Position


·                $GPHDG - Heading, Deviation & Variation


·                $GPHDT - Heading, True


·                $GPHSC - Heading Steering Command


·                $GPLCD - Loran-C Signal Data


·                $GPMSK - Control for a Beacon Receiver


·                $GPMSS - Beacon Receiver Status


·                $GPMTA - Air Temperature (to be phased out)


·                $GPMTW - Water Temperature


·                $GPMWD - Wind Direction


·                $GPMWV - Wind Speed and Angle


·                $GPOLN -

Omega Lane
Numbers


·                $GPOSD - Own Ship Data


·                $GPR00 - Waypoint active route (not standard)


·                $GPRMA - Recommended Minimum Specific Loran-C Data


·                $GPRMB - Recommended Minimum Navigation Information


·                $GPRMC - Recommended Minimum Specific GPS/TRANSIT Data


·                $GPROT - Rate of Turn


·                $GPRPM - Revolutions


·                $GPRSA - Rudder Sensor Angle


·                $GPRSD - RADAR System Data


·                $GPRTE - Routes


·                $GPSFI - Scanning Frequency Information


·                $GPSTN - Multiple Data ID


·                $GPTRF - Transit Fix Data


·                $GPTTM - Tracked Target Message


·                $GPVBW - Dual Ground/Water Speed


·                $GPVDR - Set and Drift


·                $GPVHW - Water Speed and Heading


·                $GPVLW - Distance Traveled through the Water


·                $GPVPW - Speed, Measured Parallel to Wind


·                $GPVTG - Track Made Good and Ground Speed


·                $GPWCV - Waypoint Closure Velocity


·                $GPWNC - Distance, Waypoint to Waypoint


·                $GPWPL - Waypoint Location


·                $GPXDR - Transducer Measurements


·                $GPXTE - Cross-Track Error, Measured


·                $GPXTR - Cross-Track Error, Dead Reckoning


·                $GPZDA - UTC Date / Time and Local Time Zone Offset


·                $GPZFO - UTC & Time from Origin Waypoint


·                $GPZTG - UTC & Time to Destination Waypoint


26 interpreted sentences transmitted by GPS unit


   $GPAAM - Waypoint Arrival Alarm


   $GPALM - GPS Almanac Data (Can also be received by GPS unit)


   $GPAPB - Autopilot format "B"


   $GPBOD - Bearing, origin to destination


   $GPBWC - Bearing and distance to waypoint, great circle


   $GPGGA - Global Positioning System Fix Data


   $GPGLL - Geographic position, latitude / longitude


   $GPGRS - GPSRange Residuals


   $GPGSA - GPS DOP and active satellites


   $GPGST - GPSPseudorange Noise Statistics


   $GPGSV - GPS Satellites in view


   $GPHDT - Heading, True


   $GPMSK - Control for a Beacon Receiver


   $GPMSS - Beacon Receiver Status


   $GPR00 - List of waypoints in currently active route


   $GPRMA - Recommended minimum specific Loran-C data


   $GPRMB - Recommended minimum navigation info


   $GPRMC - Recommended minimum specific GPS/Transit data


   $GPRTE - Routes


   $GPTRF - Transit Fix Data


   $GPSTN - Multiple Data ID


   $GPVBW - Dual Ground / Water Speed


   $GPVTG - Track made good and ground speed


   $GPWPL - Waypoint location


   $GPXTE - Cross-track error, Measured


   $GPZDA - UTC Date / Time and Local Time Zone Offset


There is a full list of $GPxxx sentence codes available, without links to format details.


$GPAAM


Waypoint Arrival Alarm


This sentence is generated by some units to indicate the Status of arrival (entering the arrival circle, or passing the perpendicular of the course line) at the destination waypoint.


  $GPAAM,A,A,0.10,N,WPTNME*43


 


Where:


    AAM    Arrival Alarm


    A      Arrival circle entered


    A      Perpendicular passed


    0.10   Circle radius


    N      Nautical miles


    WPTNME Waypoint name


    *43    Checksum data





$GPALM


GPS Almanac Data


A set of sentences transmitted by some Garmin units in response to a received $PGRMO,GPALM,1 sentence. It can also be received by some GPS units (eg. Garmin GPS 16 and GPS 17) to initialize the stored almanac information in the unit.


Example 1: $GPALM,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,*CC


1 = Total number of sentences in set


2 = Sentence sequence number in set


3 = Satellite number


4 = GPS week number


5 = Bits 17 to 24 of almanac page indicating SV health


6 = Eccentricity


7 = Reference time of almanac


8 = Inclination angle


9 = Right ascension rate


10 = Semi major axis route


11 = Argument of perigee (omega)


12 = Ascension node longitude


13 = Mean anomaly


14 = af0 clock parameter


15 = af1 clock parameter


Example 2: $GPALM,1,1,15,1159,00,441d,4e,16be,fd5e,a10c9f,4a2da4,686e81,58cbe1,0a4,001*5B



Field



Example



Comments



Sentence ID



$GPALM



 



Number of messages



1



Total number of messages in sequence



Sequence number



1



This is first message in sequence



Satellite PRN



15



Unique ID (PRN) of satellite message relates to



GPS week number



1159



 



SV health



00



Bits 17-24 of almanac page



Eccentricity



441d



 



Reference time



4e



Almanac reference time



Inclination angle



16be



 



Rate of right ascension



fd5e



 



Roor of semi-major axis



a10c9f



 



Argument of perigee



4a2da4



 



Longitude of ascension node



686e81



 



Mean anomoly



58cbe1



 



F0 clock parameter



0a4



 



F1 clock parameter



001



 



Checksum



*5B



 


 





$GPAPB


Autopilot format "B"


This sentence is sent by some GPS receivers to allow them to be used to control an autopilot unit. This sentence is commonly used by autopilots and contains navigation receiver warning flag status, cross-track-error, waypoint arrival status, initial bearing from origin waypoint to the destination, continuous bearing from present position to destination and recommended heading-to-steer to destination waypoint for the active navigation leg of the journey.


Note: Some autopilots, Robertson in particular, misinterpret "bearing from origin to destination" as "bearing from present position to destination". This is likely due to the difference between the APB sentence and the APA sentence. for the APA sentence this would be the correct thing to do for the data in the same field. APA only differs from APB in this one field and APA leaves off the last two fields where this distinction is clearly spelled out. This will result in poor performance if the boat is sufficiently off-course that the two bearings are different.


  $GPAPB,A,A,0.10,R,N,V,V,011,M,DEST,011,M,011,M*82


 


where:


    APB     Autopilot format B


    A       Loran-C blink/SNR warning, general warning


    A       Loran-C cycle warning


    0.10    cross-track error distance


    R       steer Right to correct (or L for Left)


    N       cross-track error units - nautical miles (K for kilometers)


    V       arrival alarm - circle


    V       arrival alarm - perpendicular


    011,M   magnetic bearing, origin to destination


    DEST    destination waypoint ID


    011,M   magnetic bearing, present position to destination


    011,M   magnetic heading to steer (bearings could True as 033,T)





$GPBOD


Bearing Origin to Destination


eg.  BOD,045.,T,023.,M,DEST,START


           045.,T       bearing 045 degrees True from "START" to "DEST"


           023.,M       breaing 023 degrees Magnetic from "START" to "DEST"


           DEST         destination waypoint ID


           START        origin waypoint ID


Example 1: $GPBOD,099.3,T,105.6,M,POINTB,*01
Waypoint ID: "POINTB" Bearing 99.3 True, 105.6 Magnetic
This sentence is transmitted in the GOTO mode, without an active route on your GPS. WARNING: this is the bearing from the moment you press enter in the GOTO page to the destination waypoint and is NOT updated dynamically! To update the information, (current bearing to waypoint), you will have to press enter in the GOTO page again.


Example 2: $GPBOD,097.0,T,103.2,M,POINTB,POINTA*52
This sentence is transmitted when a route is active. It contains the active leg information: origin waypoint "POINTA" and destination waypoint "POINTB", bearing between the two points 97.0 True, 103.2 Magnetic. It does NOT display the bearing from current location to destination waypoint! WARNING Again this information does not change until you are on the next leg of the route. (The bearing from POINTA to POINTB does not change during the time you are on this leg.)





$GPBWC


Bearing and distance to waypoint, great circle


eg1. $GPBWC,081837,,,,,,T,,M,,N,*13


 


        BWC,225444,4917.24,N,12309.57,W,051.9,T,031.6,M,001.3,N,004*29


           225444       UTC time of fix 22:54:44


           4917.24,N    Latitude of waypoint


           12309.57,W   Longitude of waypoint


           051.9,T      Bearing to waypoint, degrees true


           031.6,M      Bearing to waypoint, degrees magnetic


           001.3,N      Distance to waypoint, Nautical miles


           004          Waypoint ID





eg2. $GPBWC,220516,5130.02,N,00046.34,W,213.8,T,218.0,M,0004.6,N,EGLM*11


               1      2    3     4    5    6  7   8   9    10  11 12 13





      1    220516    timestamp


      2    5130.02   Latitude of next waypoint


      3    N         North/South


      4    00046.34  Longitude of next waypoint


      5    W         East/West


      6    213.0     True track to waypoint


      7    T         True Track


      8    218.0     Magnetic track to waypoint


      9    M         Magnetic


      10   0004.6    range to waypoint


      11   N         unit of range to waypoint, N = Nautical miles


      12   EGLM      Waypoint name


      13   *11       checksum





$GPGGA


Global Positioning System Fix Data


eg1. $GPGGA,170834,4124.8963,N,08151.6838,W,1,05,1.5,280.2,M,-34.0,M,,,*75



Name



Example Data



Description



Sentence Identifier



$GPGGA



Global Positioning System Fix Data



Time



170834



17:08:34 UTC



Latitude



4124.8963, N



41d 24.8963' N or 41d 24' 54" N



Longitude



08151.6838, W



81d 51.6838' W or 81d 51' 41" W



Fix Quality:
- 0 = Invalid
- 1 = GPS fix
- 2 = DGPS fix



1



Data is from a GPS fix



Number of Satellites



05



5 Satellites are in view



Horizontal Dilution of Precision (HDOP)



1.5



Relative accuracy of horizontal position



Altitude



280.2, M



280.2 meters above mean sea level



Height of geoid above WGS84 ellipsoid



-34.0, M



-34.0 meters



Time since last DGPS update



blank



No last update



DGPS reference station id



blank



No station id



Checksum



*75



Used by program to check for transmission errors


Courtesy of Brian McClure, N8PQI.


Global Positioning System Fix Data. Time, position and fix related data for a GPS receiver.


eg2. $GPGGA,hhmmss.ss,ddmm.mmm,a,dddmm.mmm,b,q,xx,p.p,a.b,M,c.d,M,x.x,nnnn


hhmmss.ss = UTC of position
ddmm.mmm = latitude of position
a = N or S, latitutde hemisphere
dddmm.mmm = longitude of position
b = E or W, longitude hemisphere
q = GPS Quality indicator (0=No fix, 1=Non-differential GPS fix, 2=Differential GPS fix, 6=Estimated fix)
xx = number of satellites in use
p.p = horizontal dilution of precision
a.b = Antenna altitude above mean-sea-level
M = units of antenna altitude, meters
c.d = Geoidal height
M = units of geoidal height, meters
x.x = Age of Differential GPS data (seconds since last valid RTCM transmission)
nnnn = Differential reference station ID, 0000 to 1023





$GPGLL


Geographic Position, Latitude / Longitude and time.


eg1. $GPGLL,3751.65,S,14507.36,E*77


eg2. $GPGLL,4916.45,N,12311.12,W,225444,A





           4916.46,N    Latitude 49 deg. 16.45 min. North


           12311.12,W   Longitude 123 deg. 11.12 min. West


           225444       Fix taken at 22:54:44 UTC


           A            Data valid





eg3. $GPGLL,5133.81,N,00042.25,W*75


               1    2     3    4 5


 


      1    5133.81   Current latitude


      2    N         North/South


      3    00042.25  Current longitude


      4    W         East/West


      5    *75       checksum


$--GLL,lll.ll,a,yyyyy.yy,a,hhmmss.ss,A llll.ll = Latitude of position


a = N or S
yyyyy.yy = Longitude of position
a = E or W
hhmmss.ss = UTC of position
A = status: A = valid data





$GPGRS


GPS Range Residuals


Example: $GPGRS,024603.00,1,-1.8,-2.7,0.3,,,,,,,,,*6C



Field



Example



Comments



Sentence ID



$GPGRS



 



UTC Time



024603.00



UTC time of associated GGA fix



Mode



1



0 = Residuals used in GGA, 1 = residuals calculated after GGA



Sat 1 residual



-1.8



Residual (meters) of satellite 1 in solution



Sat 2 residual



-2.7



The order matches the PRN numbers in the GSA sentence



Sat 3 residual



0.3



 



Sat 4 residual



 



Unused entries are blank



Sat 5 residual



 



 



Sat 6 residual



 



 



Sat 7 residual



 



 



Sat 8 residual



 



 



Sat 9 residual



 



 



Sat 10 residual



 



 



Sat 11 residual



 



 



Sat 12 residual



 



 



Checksum



*6C



 


 





$GPGSA


GPS DOP and active satellites


eg1. $GPGSA,A,3,,,,,,16,18,,22,24,,,3.6,2.1,2.2*3C


eg2. $GPGSA,A,3,19,28,14,18,27,22,31,39,,,,,1.7,1.0,1.3*34





1    = Mode:


       M=Manual, forced to operate in 2D or 3D


       A=Automatic, 3D/2D


2    = Mode:


       1=Fix not available


       2=2D


       3=3D


3-14 = PRN's of Satellite Vechicles (SV's) used in position fix (null for unused fields)


15   = Position Dilution of Precision (PDOP)


16   = Horizontal Dilution of Precision (HDOP)


17   = Vertical Dilution of Precision (VDOP)





$GPGST


GPS Pseudorange Noise Statistics


Example: $GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58



Field



Example



Comments</TH< TR>



Sentence ID



$GPGST



 



UTC Time



024603.00



UTC time of associated GGA fix



RMS deviation



3.2



Total RMS standard deviation of ranges inputs to the navigation solution



Semi-major deviation



6.6



Standard deviation (meters) of semi-major axis of error ellipse



Semi-minor deviation



4.7



Standard deviation (meters) of semi-minor axis of error ellipse



Semi-major orientation



47.3



Orientation of semi-major axis of error ellipse (true north degrees)



Latitude error deviation



5.8



Standard deviation (meters) of latitude error



Longitude error deviation



5.6



Standard deviation (meters) of longitude error



Altitude error deviation



22.0



Standard deviation (meters) of latitude error



Checksum



*58



 


 





$GPGSV


GPS Satellites in view


eg. $GPGSV,3,1,11,03,03,111,00,04,15,270,00,06,01,010,00,13,06,292,00*74


    $GPGSV,3,2,11,14,25,170,00,16,57,208,39,18,67,296,40,19,40,246,00*74


    $GPGSV,3,3,11,22,42,067,42,24,14,311,43,27,05,244,00,,,,*4D





    $GPGSV,1,1,13,02,02,213,,03,-3,000,,11,00,121,,14,13,172,05*62





1    = Total number of messages of this type in this cycle


2    = Message number


3    = Total number of SVs in view


4    = SV PRN number


5    = Elevation in degrees, 90 maximum


6    = Azimuth, degrees from true north, 000 to 359


7    = SNR, 00-99 dB (null when not tracking)


8-11 = Information about second SV, same as field 4-7


12-15= Information about third SV, same as field 4-7


16-19= Information about fourth SV, same as field 4-7





$GPHDT


Heading, True.


Actual vessel heading in degrees Ture produced by any device or system producing true heading.


$--HDT,x.x,T
x.x = Heading, degrees True





$GPMSK


Control for a Beacon Receiver


  $GPMSK,318.0,A,100,M,2*45


 


where:


       318.0      Frequency to use


       A          Frequency mode, A="auto", M="manual"


       100        Beacon bit rate


       M          Bitrate, A="auto", M="manual"


       2          frequency for MSS message status (null for no status)


       *45        checksum





$GPMSS


Beacon Receiver Status


Example 1: $GPMSS,55,27,318.0,100,*66


where:


       55         signal strength in dB


       27         signal to noise ratio in dB


       318.0      Beacon Frequency in KHz


       100        Beacon bitrate in bps


       *66        checksum


Example 2: $GPMSS,0.0,0.0,0.0,25,2*6D



Field



Example



Comments



Sentence ID



$GPMSS



 



Signal strength



0.0



Signal strength (dB 1uV)



SNR



0.0



Signal to noise ratio (dB)



Frequency



0.0



Beacon frequency (kHz)



Data rate



25



Beacon data rate (BPS)



Unknown field



2



Unknown field sent by GPS receiver used for test



Checksum



*6D



 


 





$GPR00


List of waypoint IDs in currently active route


eg1. $GPR00,EGLL,EGLM,EGTB,EGUB,EGTK,MBOT,EGTB,,,,,,,*58


eg2. $GPR00,MINST,CHATN,CHAT1,CHATW,CHATM,CHATE,003,004,005,006,007,,,*05





List of waypoints. This alternates with $GPWPL cycle


which itself cycles waypoints.





$GPRMA


Recommended minimum specific Loran-C data


eg. $GPRMA,A,lll,N,lll,W,x,y,ss.s,ccc,vv.v,W*hh


A    = Data status


lll  = Latitude


N    = N/S


lll  = longitude


S    = W/E


x    = not used


y    = not used


ss.s = Speed over ground in knots


ccc  = Course over ground


vv.v = Variation


W    = Direction of variation E/W


hh   = Checksum





$GPRMB


Recommended minimum navigation information (sent by nav. receiver when a destination waypoint is active)


eg1. $GPRMB,A,0.66,L,003,004,4917.24,N,12309.57,W,001.3,052.5,000.5,V*0B





           A            Data status A = OK, V = warning


           0.66,L       Cross-track error (nautical miles, 9.9 max.),


                                steer Left to correct (or R = right)


           003          Origin waypoint ID


           004          Destination waypoint ID


           4917.24,N    Destination waypoint latitude 49 deg. 17.24 min. N


           12309.57,W   Destination waypoint longitude 123 deg. 09.57 min. W


           001.3        Range to destination, nautical miles


           052.5        True bearing to destination


           000.5        Velocity towards destination, knots


           V            Arrival alarm  A = arrived, V = not arrived


           *0B          mandatory checksum





eg2. $GPRMB,A,4.08,L,EGLL,EGLM,5130.02,N,00046.34,W,004.6,213.9,122.9,A*3D


            1   2  3   4    5    6     7   8      9   10    11    12   13



 


      1    A         validity


      2    4.08      off track


      3    L         Steer Left (L/R)


      4    EGLL      last waypoint


      5    EGLM      next waypoint


      6    5130.02   Latitude of Next waypoint


      7    N         North/South


      8    00046.34  Longitude of next waypoint


      9    W         East/West


      10   004.6     Range


      11   213.9     bearing to waypt.


      12   122.9     closing velocity


      13   A         validity


      14   *3D       checksum





eg3. $GPRMB,A,x.x,a,c--c,d--d,llll.ll,e,yyyyy.yy,f,g.g,h.h,i.i,j*kk


1    = Data Status (V=navigation receiver warning)


2    = Crosstrack error in nautical miles


3    = Direction to steer (L or R) to correct error


4    = Origin waypoint ID#


5    = Destination waypoint ID#


6    = Destination waypoint latitude


7    = N or S


8    = Destination waypoint longitude


9    = E or W


10   = Range to destination in nautical miles


11   = Bearing to destination, degrees True


12   = Destination closing velocity in knots


13   = Arrival status; (A=entered or perpendicular passed)


14   = Checksum





$GPRMC


Recommended minimum specific GPS/Transit data


eg1. $GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62


eg2. $GPRMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68





           225446       Time of fix 22:54:46 UTC


           A            Navigation receiver warning A = Valid position, V = Warning


           4916.45,N    Latitude 49 deg. 16.45 min. North


           12311.12,W   Longitude 123 deg. 11.12 min. West


           000.5        Speed over ground, Knots


           054.7        Course Made Good, degrees true


           191194       UTC Date of fix, 19 November 1994


           020.3,E      Magnetic variation, 20.3 deg. East


           *68          mandatory checksum





eg3. $GPRMC,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*70


              1    2    3    4    5     6    7    8      9     10  11 12





      1   220516     Time Stamp


      2   A          validity - A-ok, V-invalid


      3   5133.82    current Latitude


      4   N          North/South


      5   00042.24   current Longitude


      6   W          East/West


      7   173.8      Speed in knots


      8   231.8      True course


      9   130694     Date Stamp


      10  004.2      Variation


      11  W          East/West


      12  *70        checksum





eg4. for NMEA 0183 version 3.00 active the Mode indicator field is added


     $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a,m*hh


Field #


1    = UTC time of fix


2    = Data status (A=Valid position, V="navigation" receiver warning)


3    = Latitude of fix


4    = N or S of longitude


5    = Longitude of fix


6    = E or W of longitude


7    = Speed over ground in knots


8    = Track made good in degrees True


9    = UTC date of fix


10   = Magnetic variation degrees (Easterly var. subtracts from true course)


11   = E or W of magnetic variation


12   = Mode indicator, (A=Autonomous, D="Differential", E="Estimated", N="Data" not valid)


13   = Checksum





$GPRTE


Routes


eg. $GPRTE,2,1,c,0,PBRCPK,PBRTO,PTELGR,PPLAND,PYAMBU,PPFAIR,PWARRN,PMORTL,PLISMR*73


    $GPRTE,2,2,c,0,PCRESY,GRYRIE,GCORIO,GWERR,GWESTG,7FED*34


           1 2 3 4 5 ..



  1. Number of sentences in sequence


  2. Sentence number


  3. 'c' = Current active route, 'w' = waypoint list starts with destination waypoint


  4. Name or number of the active route


  5. onwards, Names of waypoints in Route





$GPTRF


Transit Fix Data


Time, date, position, and information related to a TRANSIT Fix.


$--TRF,hhmmss.ss,xxxxxx,llll.ll,a,yyyyy.yy,a,x.x,x.x,x.x,x.x,xxx
hhmmss.ss = UTC of position fix
xxxxxx = Date: dd/mm/yy
llll.ll,a = Latitude of position fix, N/S
yyyyy.yy,a = Longitude of position fix, E/W
x.x = Elevation angle
x.x = Number of iterations
x.x = Number of Doppler intervals
x.x = Update distance, nautical miles
x.x = Satellite ID





$GPSTN


Multiple Data ID.


This sentence is transmitted before each individual sentence where there is a need for the Listener to determine the exact source of data in the system. Examples might include dual-frequency depthsounding equipment or equipment that integrates data from a number of sources and produces a single output.


$--STN,xx
xx = Talker ID number, 00 to 99





$GPVBW


Dual Ground / Water Speed


Water referenced and ground referenced speed data.


$--VBW,x.x,x.x,A,x.x,x.x,A
x.x = Longitudinal water speed, knots
x.x = Transverse water speed, knots
A = Status: Water speed, A = Data valid
x.x = Longitudinal ground speed, knots
x.x = Transverse ground speed, knots
A = Status: Ground speed, A = Data valid





$GPVTG


Track Made Good and Ground Speed.


eg1. $GPVTG,360.0,T,348.7,M,000.0,N,000.0,K*43


eg2. $GPVTG,054.7,T,034.4,M,005.5,N,010.2,K*41





           054.7,T      True course made good over ground, degrees


           034.4,M      Magnetic course made good over ground, degrees


           005.5,N      Ground speed, N="Knots"


           010.2,K      Ground speed, K="Kilometers" per hour





eg3. for NMEA 0183 version 3.00 active the Mode indicator field


     is added at the end


     $GPVTG,054.7,T,034.4,M,005.5,N,010.2,K,A*53


           A            Mode indicator (A=Autonomous, D="Differential",


                        E=Estimated, N="Data" not valid)





$GPWPL


Waypoint location


eg1. $GPWPL,4917.16,N,12310.64,W,003*65





           4917.16,N    Latitude of waypoint


           12310.64,W   Longitude of waypoint


           003          Waypoint ID





             When a route is active, this sentence is sent once for each


             waypoint in the route, in sequence. When all waypoints have


             been reported, GPR00 is sent in the next data set. In any


             group of sentences, only one WPL sentence, or an R00


             sentence, will be sent.





eg2.  $GPWPL,5128.62,N,00027.58,W,EGLL*59


         1     2     3    4  5   6





      1    5128.62   Latitude of nth waypoint on list


      2    N         North/South


      3    00027.58  Longitude of nth waypoint


      4    W         East/West


      5    EGLL      Ident of nth waypoint


      6    *59       checksum





$GPXTE


Cross Track Error, Measured


eg1. $GPXTE,A,A,0.67,L,N





           A            General warning flag V = warning


                                (Loran-C Blink or SNR warning)


           A            Not used for GPS (Loran-C cycle lock flag)


           0.67         cross track error distance


           L            Steer left to correct error (or R for right)


           N            Distance units - Nautical miles





eg2. $GPXTE,A,A,4.07,L,N*6D


            1 2  3   4 5 6





      1    A         validity


      2    A         cycle lock


      3    4.07      distance off track


      4    L         steer left (L/R)


      5    N         distance units


      6    *6D       checksum





$GPZDA


UTC Date / Time and Local Time Zone Offset


Example 1: $GPZDA,hhmmss.ss,xx,xx,xxxx,xx,xx


hhmmss.ss = UTC


xx = Day, 01 to 31


xx = Month, 01 to 12


xxxx = Year


xx = Local zone description, 00 to +/- 13 hours


xx = Local zone minutes description (same sign as hours)


Example 2: $GPZDA,024611.08,25,03,2002,00,00*6A



Field



Example



Comments



Sentence ID



$GPZDA



 



UTC Time



024611.08



UTC time



UTC Day



25



UTC day (01 to 31)



UTC Month



03



UTC month (01 to 12)



UTC Year



2002



UTC year (4 digit format)



Local zone hours



00



Offset to local time zone in hours (+/- 00 to +/- 59)



Local zone minutes



00



Offset to local time zone in minutes (00 to 59)



Checksum



*6A



 





12 interpreted Garmin proprietary sentences transmitted by GPS unit


   $HCHDG  - Compass Heading


   $PGRMB  - DGPS Beacon Information


   $PGRMC  - Sensor Configuration Information


   $PGRMC1 - Additional Sensor Configuration Information


   $PGRME  - Estimated Position Error


   $PGRMF  - GPS Position Fix Data


   $PGRMI  - Sensor Initialization Information


   $PGRMM  - Map Datum


   $PGRMT  - Sensor Status Information


   $PGRMV  - 3D Velocity Information


   $PGRMZ  - Altitude Information


   $PSLIB  - Tune DPGS Beacon Receiver





$HCHDG


Compass Heading


This sentence is used on Garmin eTrex summit, Vista and GPS76S receivers to output the value of the internal flux-gate compass. Only the magnetic heading and magnetic variation is shown in the message.


  $HCHDG,101.1,,,7.1,W*3C


 


where:


     HCHDG    Magnetic heading, deviation, variation


     101.1    heading


     ,,       deviation (no data)


     7.1,W    variation





$PGRMB


DGPS Beacon Information


$PGRMB,1,2,3,4,5,6,7,8,9*HH
1 = Tune frequency, Kilohertz (283.5 - 325.0 in 0.5 steps)
2 = Bit rate, Bits / second (0, 25, 50, 100, 200)
3 = SNR (Signal to Noise Ratio), 0 - 31
4 = Data Quality, 0 - 100
5 = Distance to beacon reference station
6 = Distance unit (K=Kilometres)
7 = Receiver communication status (0=Check wiring, 1=No signal, 2=Tuning, 3=Receiving, 4=Scanning)
8 = Fix source (R=RTCM, W="WAAS", N="Non-DPGS" fix)
9 = DGPS Mode (A=Automatic, W="WAAS" only, R="RTCM" Only, N="None"; DGPS disabled)
HH = Checksum





$PGRME


Estimated Position Error


eg. $PGRME,15.0,M,45.0,M,25.0,M*22





     15.0,M       Estimated horizontal position error (HPE), M="metres"


     45.0,M       Estimated vertical position error (VPE), M="metres"


     25.0,M       Overall spherical equivalent position error, M="metres"





$PGRMF


GPS Position Fix Data


$PGRMF,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15*HH
1 = GPS week number
2 = GPS seconds in current week
3 = UTC date, ddmmyy format
4 = UTC time, hhmmss format
5 = GPS leap second count
6 = Latitude, dddmm.mmmm format
7 = Latitude hemisphere, N or S
8 = Longitude, dddmm.mmmm format
9 = Longitude hemisphere, E or W
10 = Mode (M=Manual, A="Automatic")
11 = Fix type (0=No fix, 1=2D fix, 2=3D fix)
12 = Speed over ground, kilometres / hour
13 = Course over ground, degrees true
14 = PDOP (Position dilution of precision), rounded to nearest integer
15 = TDOP (Time dilution of precision), rounded to nearest integer
HH = Checksum





$PGRMM


Map datum


Example 1: $PGRMM,Astrln Geod '66*51


'Astrln Geod 66' = Name of currently active datum


Example 2: $PGRMM,NAD27 Canada*2F


'NAD27 Canada' = Name of currently active datum





$PGRMT


Sensor Status Information


$PGRMT,1,2,3,4,5,6,7,8,9*HH
1 = Garmin product model and software version (eg. GPS 16 VER 2.10)
2 = ROM checksum test (P=Pass, F="Fail")
3 = Receiver failure discrete (P=Pass, F="Fail")
4 = Stored data lost (R=Retained, L="Lost")
5 = Real time clock lost (R=Retained, L="Lost")
6 = Oscillator drift discrete (P=Pass, F="Excessive" drift detected)
7 = Data collection discrtete (C=Collecting, Null="Not" Collecting)
8 = GPS sensor temperature (Degrees C)
9 = GPS sensor configuration data (R=Retained, L="Lost")
HH = Checksum





$PGRMV


3D Velocity Information


$PGRMV,1,2,3*HH
1 = True east velocity, metres / sec
2 = True north velocity, metres / sec
3 = Upward velocity, metres / sec
HH = Checksum





$PGRMZ


Altitude Information


eg1. $PGRMZ,246,f,3*1B


eg2. $PGRMZ,93,f,3*21



    


      93,f         Altitude in feet


       3            Position fix dimensions 2 = user altitude


                                            3 = GPS altitude


  This sentence shows in feet, regardless of units shown on the display.





eg3.  $PGRMZ,201,f,3*18


              1  2 3





      1  201   Altitude


      2  F     Units - f-Feet


      3  checksum





$PSLIB


Tune DPGS Beacon Receiver


Proprietary Differential Control sentences to control a Starlink differential beacon receiver, assuming Garmin's DBR is made by Starlink.


eg1.    $PSLIB,290.5,100,J*22


eg2.    $PSLIB,300.0,200,K*23


These two sentences are normally sent together in each group of sentences from the GPS.


The three fields are: Frequency, bit Rate, Request Type. The value in the third field may be: J = status request, K = configuration request, blank = tuning message.


When the GPS receiver is set to change the DBR frequency or baud rate, the "J" sentence is replaced (just once) by (for example): $PSLIB,320.0,200*59 to set the DBR to 320 KHz, 200 baud.


To tune a Garmin GBR 21, GBR 23 or equivalent beacon receiver.


$PSLIB,1,2*HH
1 = Beacon tune frequency, Kilohertz (283.5 - 325.0 in 0.5 steps)
2 = Beacon bit rate, Bits / second (0, 25, 50, 100, 200
HH = Checksum


[ Top ]





8 interpreted Garmin proprietary sentences received by GPS unit


   $PGRMC   - Sensor Configuration Information


   $PGRMCE  - Sensor Configuration Information Enquiry


   $PGRMC1  - Additional Sensor Configuration Information


   $PGRMC1E - Additional Sensor Configuration Information Enquiry


   $PGRMI   - Sensor Initialization Information


   $PGRMIE  - Sensor Initialization Information Enquiry


   $PGRMO   - Output Sentence Enable / Disable


   $PSLIB   - Tune DPGS Beacon Receiver


A few Garmin GPS receiver units are known to receive these sentences, including the GPS 16 and GPS 17 modules.





$PGRMC


Sensor Configuration Information


Used to configure the GPS sensor's operation. The GPS will also transmit this sentence upon receiving this same sentence or the $PGRMCE sentence.


$PGRMC,1,2,3,4,5,6,7,8,9,10,11,12,13,14*HH
1 = Fix mode (A=Automatic, 2=2D exclusively; host system must supply altitude, 3=3D exclusively)
2 = Altitude above/below mean sea level, metres
3 = Earth datum index. If the user datum index is specified (96), fields 4 to 8 must contain valid values, otherwise they must be blank.
4 = Semi-major axis, metres, 0.001 metre resolution
5 = Inverse flattening factor, 285 to 310, 10e-9 resolution
6 = Delta X earth centred coordinate, metres, -5000 to 5000, 1 metre resolution
7 = Delta Y earth centred coordinate, metres, -5000 to 5000, 1 metre resolution
8 = Delta Z earth centred coordinate, metres, -5000 to 5000, 1 metre resolution
9 = Differential mode (A=Automatic; output DGPS fixes when available otherwise non-DGPS, D="Only" output differential fixes)
10 = NMEA 0183 baud rate (1=1200, 2=2400, 3=4800, 4=9600, 5=19200, 6=300, 7=600)
11 = Velocity filter (0=None, 1=Automatic, 2-255=Filter time constant; seconds)
12 = PPS mode (1=None, 2=1 Hertz)
13 = PPS pulse length, N = 0 to 48. Length (milliseconds) = (N+1)*20
14 = Dead reckoning valid time, 1 to 30, seconds
HH = Checksum





$PGRMCE


Sensor Configuration Information Enquiry


The unit will respond by transmitting a $PGRMC sentence containing the current default values.


$PGRMCE*HH
HH = Checksum





$PGRMC1


Additional Sensor Configuration Information


Used to configure additional aspects of the GPS sensor's operation. The GPS will also transmit this sentence upon receiving this same sentence or the $PGRMC1E sentence.


$PGRMC1,1,2,3,4,5,6,7,8,9*HH
1 = NMEA 0183 output time, 1-900, seconds (Not applicable to GPS16A)
2 = Binary phase output data (1=Off, 2=On)
3 = Position pinning (1=Off, 2=On)
4 = DGPS beacon frequency, Kilohertz, 283.5 to 325.0 in 0.5 steps
5 = DGPS beacon bit rate (0, 25, 50, 100, 200)
6 = DGPS beacon scanning (1=Off, 2=On)
7 = NMEA 0183 version 3.00 mode indicator (1=Off, 2=On)
8 = DGPS mode (A=Automatic, W="WAAS" only, R="RTCM" only, N="None"; DGPS disabled)
9 = Power save mode (P=Activated, N="Normal")
HH = Checksum





$PGRMC1E


Additional Sensor Configuration Information Enquiry


The unit will respond by transmitting a $PGRMC1 sentence containing the current default values.


$PGRMC1E*HH
HH = Checksum





$PGRMI


Sensor Initialization Information


Used to set the GPS sensor's set time and position and then commences satellite acquisition. The GPS will also transmit this sentence upon receiving this same sentence or the $PGRMIE sentence.


$PGRMI,1,2,3,4,5,6,7*HH
1 = Latitude, dddmm.mmm format
2 = Latitude hemisphere, N or S
3 = Longitude, dddmm.mmm format
4 = Longitude hemisphere, N or S
5 = Current UTC date, ddmmyy format
6 = Current UTC time, hhmmss format
7 = Receiver command (A=Auto locate, R="Unit" reset)
HH = Checksum





$PGRMIE


Sensor Initialization Information Enquiry


The unit will respond by transmitting a $PGRMI sentence containing the current default values.


$PGRMIE*HH
HH = Checksum





$PGRMO


Output Sentence Enable / Disable


$PGRMO,xxxxx,n*HH
xxxxx = Target sentence name (eg. GPGGA, GPGSA)
n = Target mode (0=Disable specified sentence, 1=Enable specified sentence, 2=Disable all output sentences except PSLIB, 3=Enable all output sentences except GPALM, 4=Restore factory defaults)
HH = Checksum





Format of latitudes and longitudes


Where a numeric latitude or longitude is given, the two digits immediately to the left of the decimal point are whole minutes, to the right are decimals of minutes, and the remaining digits to the left of the whole minutes are whole degrees.


eg. 4533.35 is 45 degrees and 33.35 minutes. ".35" of a minute is exactly 21 seconds.


eg. 16708.033 is 167 degrees and 8.033 minutes. ".033" of a minute is about 2 seconds.

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