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GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183 NMEA Baddeley ---- GPSGPSGPSGPS ---- NMEA Baddeley GlennGlennGlennGlenn Baddeley sentence Baddeley NMEA sentence NMEA sentence sentence information information information information Contents Contents Contents Contents • All $GPxxx sentence codes and short descriptions 26 interpreted sentences transmitted by GPS unit • 12 interpreted Garmin proprietary sentences transmitted by GPS unit • 8 interpreted Garmin proprietary sentences received by GPS unit • Format of latitudes and longitudes • • References [ Top ] [Glenn's GPS Contents Page] short codes andandandand short codes sentence $GPxxx AllAllAllAll $GPxxx descriptions $GPxxx sentence codes short descriptions short descriptions sentence codes $GPxxx sentence 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 - GPS Range Residuals $GPGSA - GPS DOP and Active Satellites $GPGST - GPS Pseudorange Noise Statistics $GPGSV - GPS Satellites in View $GPGXA - TRANSIT Position $GPHDG - Heading, Deviation & Variation $GPHDT - Heading, True

GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183 $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 • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • [Top] transmitted sentences interpreted 26262626 interpreted transmitted bybybyby GPSGPSGPSGPS unitunitunitunit interpreted sentences transmitted sentences transmitted interpreted sentences $GPAAM - Waypoint Arrival Alarm

GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183 received bybybyby GPSGPSGPSGPS unit) received (Can alsoalsoalsoalso bebebebe received (Can unit) (Can received unit) $GPALM - GPS Almanac Data (Can 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 - GPS Range Residuals $GPGSA - GPS DOP and active satellites $GPGST - GPS Pseudorange 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. [Top] $GPAAM $GPAAM $GPAAM $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: Arrival Alarm AAM A A 0.10 N WPTNME Waypoint name Arrival circle entered Perpendicular passed Circle radius Nautical miles

GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183 *43 Checksum data $GPALM $GPALM $GPALM $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 Comments Comments Comments Comments Total number of messages in sequence This is first message in sequence Unique ID (PRN) of satellite message relates to Bits 17-24 of almanac page Almanac reference time FieldFieldFieldField Sentence ID Number of messages Sequence number Satellite PRN GPS week number SV health Eccentricity Reference time Inclination angle Rate of right ascension Roor of semi-major axis Argument of perigee Longitude of ascension node Mean anomoly F0 clock parameter Example Example Example Example $GPALM 1 1 15 1159 00 441d 4e 16be fd5e a10c9f 4a2da4 686e81 58cbe1 0a4

GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183 F1 clock parameter Checksum 001 *5B $GPAPB $GPAPB $GPAPB $GPAPB initial bearing from origin waypoint 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, 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: Autopilot format B Loran-C blink/SNR warning, general warning Loran-C cycle warning cross-track error distance steer Right to correct (or L for Left) cross-track error units - nautical miles (K for kilometers) arrival alarm - circle arrival alarm - perpendicular APB A A 0.10 R N V V 011,M magnetic bearing, origin to destination DEST 011,M magnetic bearing, present position to destination 011,M magnetic heading to steer (bearings could True as 033,T) destination waypoint ID $GPBOD $GPBOD $GPBOD $GPBOD Bearing Origin to Destination eg. BOD,045.,T,023.,M,DEST,START 045.,T 023.,M DEST bearing 045 degrees True from "START" to "DEST" breaing 023 degrees Magnetic from "START" to "DEST" destination waypoint ID

GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183 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 $GPBWC $GPBWC $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 UTC time of fix 22:54:44 Latitude of waypoint 225444 4917.24,N 12309.57,W Longitude of waypoint 051.9,T 031.6,M 001.3,N 004 Bearing to waypoint, degrees true Bearing to waypoint, degrees magnetic Distance to waypoint, Nautical miles 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 2 3 4 5 6 7 8 9 10 11 East/West timestamp Latitude of next waypoint North/South 220516 5130.02 N 00046.34 Longitude of next waypoint W 213.0 T 218.0 M 0004.6 N True track to waypoint True Track Magnetic track to waypoint Magnetic range to waypoint unit of range to waypoint, N = Nautical miles

GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183 12 13 EGLM *11 Waypoint name checksum $GPGGA $GPGGA $GPGGA $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 NameNameNameName Sentence Identifier Time Latitude Longitude Example Example Example Example Description Description Description Description Global Positioning System Fix Data 17:08:34 UTC DataDataDataData $GPGGA 170834 4124.8963, N 41d 24.8963' N or 41d 24' 54" N 08151.6838, W 81d 51.6838' W or 81d 51' 41" W Fix Quality: - 0 = Invalid - 1 = GPS fix - 2 = DGPS fix Number of Satellites Horizontal Dilution of Precision (HDOP) Altitude Height of geoid above WGS84 ellipsoid Time since last DGPS update DGPS reference station id Checksum 1 05 1.5 280.2, M -34.0, M blank blank *75 Data is from a GPS fix 5 Satellites are in view Relative accuracy of horizontal position 280.2 meters above mean sea level -34.0 meters No last update No station id 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

GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183 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 $GPGLL $GPGLL $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 Latitude 49 deg. 16.45 min. North 4916.46,N 12311.12,W Longitude 123 deg. 11.12 min. West 225444 A Fix taken at 22:54:44 UTC Data valid eg3. $GPGLL,5133.81,N,00042.25,W*75 4 5 1 2 3 1 2 3 4 5 Current latitude North/South 5133.81 N 00042.25 Current longitude W *75 East/West 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 $GPGRS $GPGRS $GPGRS GPS Range Residuals Example: $GPGRS,024603.00,1,-1.8,-2.7,0.3,,,,,,,,,*6C FieldFieldFieldField Sentence ID UTC Time Mode Example Example Example Example $GPGRS 024603.00 UTC time of associated GGA fix 1 Comments Comments Comments Comments 0 = Residuals used in GGA, 1 = residuals calculated after GGA

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