NMEA 0183 protocol

Introduction
NMEA 0183 = National Marine Electronics Association protocol 0183 NMEA 0183 is a protocol most commonly used to send information from GPS receivers today.

Physical layer
Usually a RS232 (V.24) serial connection.

Link layer
Usually:

1 start bit 8 data bits (bit 7 is 0) 0 parity bit (none) 1 or 2 stop bits 4800 baud

Total message is maximum 82 characters, including '$' and CR+LF.

Proprietary Extension Message format

Byte pos Length Value Description 0 1 0x24 '$' Start character 1 1 0x50 'P' Type: Proprietary 2 3 Manufacturer ID 5 Message Data

Talker Message format

Byte pos Length Value Description 0 1 0x24 '$' Start character 1 2 Talker ID 3 3 Message Type 6 Message Data (comma separated parameters) .. 1 0x2a '*' Separator .. 2 Checksum (optional, omit separator above also) .. 1 0x0d CR Stop character .. 1 0x0a LF Stop character

Query Message format

Byte pos Length Value Description 0 1 0x24 '$' Start character 1 2 Talker ID (of requester) 3 2 Talker ID (of listener) 5 1 0x4f 'Q' Message Type 6 1 0x2c ',' Separator 7 Messages Requested Data (comma separated) .. 1 0x2a '*' Separator .. 2 Checksum (optional, omit separator above also) .. 1 0x0d CR Stop character .. 1 0x0a LF Stop character Talker ID Characters Description AG Autopilot - General AP Autopilot - Magnetic CC Computer - Programmed Calculator (outdated) CD Communications - Digital Selective Calling (DSC) CM Computer - Memory Data (outdated) CS Communications - Satellite CT Communications - Radio-Telephone (MF/HF) CV Communications - Radio-Telephone (VHF) CX Communications - Scanning Receiver DE DECCA Navigation (outdated) DF Direction Finder EC Electronic Chart Display & Information System (ECDIS) EP Emergency Position Indicating Beacon (EPIRB) ER Engine Room Monitoring Systems GP Global Positioning System (GPS) HC Heading - Magnetic Compass HE Heading - North Seeking Gyro HN Heading - Non North Seeking Gyro II Integrated Instrumentation IN Integrated Navigation LA Loran A (outdated) LC Loran C MP Microwave Positioning System (outdated) OM OMEGA Navigation System (outdated) OS Distress Alarm System (outdated)

RA SD SN SS TI TR VD DM VW WI YC YD YF YL YP YR YT YV YX ZA ZC ZQ ZV

RADAR and/or ARPA Sounder, Depth Electronic Positioning System, other/general Sounder, Scanning Turn Rate Indicator TRANSIT Navigation System Velocity Sensor, Doppler, other/general Velocity Sensor, Speed Log, Water, Magnetic Velocity Sensor, Speed Log, Water, Mechanical Weather Instruments Transducer - Temperature (outdated) Transducer - Displacement, Angular or Linear (outdated) Transducer - Frequency (outdated) Transducer - Level (outdated) Transducer - Pressure (outdated) Transducer - Flow Rate (outdated) Transducer - Tachometer (outdated) Transducer - Volume (outdated) Transducer Timekeeper - Atomic Clock Timekeeper - Chronometer Timekeeper - Quartz Timekeeper - Radio Update, WWV or WWVH

Message Type Characters Description AAM Waypoint Arrival Alarm ALM GPS Almanac Data APA Autopilot Sentence "A" APB Autopilot Sentence "B" ASD Autopilot System Data BOD Bearing - Waypoint to Waypoint BWC Bearing and Distance to Waypoint - Great Circle BWR Bearing and Distance to Waypoint - Rhumb Line BWW Bearing - Waypoint to Waypoint DBK Depth Below Keel DBS Depth Below Surface DBT Depth below transducer DCN Decca Position DPT Depth of Water

DSC DSE DSI DSR DTM FSI GBS GGA GLC GLL GRS GSA GST GSV GTD GXA HDG HDM HDT HFB HSC ITS LCD MSK MSS MTW MWD MWV OLN OSD R00 RMA RMB RMC ROT RPM RSA RSD RTE SFI STN

Digital Selective Calling Information Extended DSC DSC Transponder Initiate DSC Transponder Response Datum Reference Frequency Set Information GPS Satellite Fault Detection Global Positioning System Fix Data Geographic Position, Loran-C Geographic Position - Latitude/Longitude GPS Range Residuals GPS DOP and active satellites GPS Pseudorange Noise Statistics Satellites in view Geographic Location in Time Differences TRANSIT Position - Latitude/Longitude Heading - Deviation & Variation Heading - Magnetic Heading - True Trawl Headrope to Footrope and Bottom Heading Steering Command Trawl Door Spread 2 Distance Loran-C Signal Data Control for a Beacon Receiver Beacon Receiver Status Mean Temperature of Water Wind Direction & Speed Wind Speed and Angle Omega Lane Numbers Own Ship Data Waypoints in active route Recommended Minimum Navigation Information Recommended Minimum Navigation Information Recommended Minimum Navigation Information Rate Of Turn Revolutions Rudder Sensor Angle RADAR System Data Routes Scanning Frequency Information Multiple Data ID

TDS TFI TLL TPC TPR TPT TRF TTM VBW VDR VHW VLW VPW VTG VWR WCV WDC WDR WNC WPL XDR XTE XTR ZDA ZDL ZFO ZTG

Trawl Door Spread Distance Trawl Filling Indicator Target Latitude and Longitude Trawl Position Cartesian Coordinates Trawl Position Relative Vessel Trawl Position True TRANSIT Fix Data Tracked Target Message Dual Ground/Water Speed Set and Drift Water speed and heading Distance Traveled through Water Speed - Measured Parallel to Wind Track made good and Ground speed Relative Wind Speed and Angle Waypoint Closure Velocity Distance to Waypoint - Great Circle Distance to Waypoint - Rhumb Line Distance - Waypoint to Waypoint Waypoint Location Cross Track Error - Dead Reckoning Cross-Track Error, Measured Cross Track Error - Dead Reckoning Time & Date - UTC, day, month, year and local time zone Time and Distance to Variable Point UTC & Time from origin Waypoint UTC & Time to Destination Waypoint

Manufacturer ID Characters Description 3SN 3-S Navigation AAR Asian American Resources ACE Auto-Comm Engineering Corporation ACR ACR Electronics, Inc. ACS Arco Solar, Inc. ACT Advanced Control Technology ADI Aditel AGI Airguide Instrument Company AHA Autohelm of America AIP Aiphone Corporation

ALD AMC AMI AMR AMT AND ANS ANX ANZ APC APN APW APX AQC AQD AQM ARL ASH ASP ATC ATE ATM ATR ATV AVN AWA AXN BBG BBL BBR BDV BEC BGG BGS BGT BHE BHR BLB BMC BME BMT

Alden Electronics, Inc. Alltek Marine Electronics Corp. Advanced Marine Instrumentation, Ltd. AMR Systems Airmar Technology Andrew Corporation Antenna Specialists Analytyx Electronic Systems Anschutz of America Apelco American Pioneer, Inc. Automatic Power, Inc. / Pharos Marine Amperex, Inc. Aqua-Chem, Inc. Aquadynamics, Inc. Aqua Meter Instrument Company Active Research Limited Ashtech American Solar Power Advanced C Technology, Ltd Aetna Engineering Atlantic Marketing Company, Inc. Airtron Activation, Inc. Advanced Navigation, Inc. Awa New Zealand, Limited Axiom Navigation, Inc. BBG, Inc. BBL Industries, Inc. BBR and Associates Brisson Development, Inc. Boat Electric Company Bodensee Graavitymeter Geosystems GmbH Barringer Geoservice Brookes and Gatehouse, Inc. BH Electronics Bahr Technologies, Inc. Bay Laboratories BMC Bartel Marine Electronics Bosch Rexroth Ag Marine Technique

BNI BNS BRM BRO BRY BTH BTK BTS BVE BXA CAI CAT CBN CCA CCC CCL CCM CDC CEC CEI CHI CKM CMA CMC CME CML CMN CMP CMS CMV CNI CNS CNV CNX CPL CPN CPS CPT CRE CRO CRY

Neil Brown Instrument Systems Bowditch Navigation Systems Mel Barr Company Broadgate, Ltd Byrd Industries Benthos, Inc. Baltek Corporation Boat Sentry, Inc. Bv Engineering Bendix-Avalex, Inc. Cambridge Aero Instruments Catel Cybernet Marine Products Copal Corporation of America Coastal Communications Company Coastal Climate Company Coastal Communications Cordic Company Ceco Communications, Inc. Cambridge Engineering, Inc. Charles Industries, Ltd. Cinkel Marine Electronics Industries Societe Nouvelle D'Equiment du Calvados Coe Manufacturing Company Cushman Electronics, Inc. Cml Microsystems, PLC Comnav Marine, Ltd. C-Map, s.r.l. Coastal Marine Sales Company CourseMaster USA, Inc. Continental Instruments C.N.S. Systems AB Coastal Navigator Cynex Manufactoring Company Computrol, Inc. Compunav Columbus Positioning, Inc. CPT, Inc. Crystal Electronics, Limited The Caro Group Crystek Crystals Corporation

CSI CSM CSR CST CSV CTA CTB CTC CTE CTL CTS CWD CWV CYZ DAS DBM DCC DEB DEC DFI DGC DME DMI DNS DNT DOI DPS DRL DSC DTN DYN DYT EAN EBC ECT EDO EEV EFC EKC ELA ELD

Communication Systems International, Inc. Comsat Maritime Services Csr Stockholm Cast, Inc. Combined Services Current Alternatives Cetec Benmar Cell-tech Communications Castle Electronics C-Tech, Limited C-Tech Systems Cubic Western Data Celwave R.F., Inc. cYz, Inc. Dassault Sercel Navigation-Positioning Deep Blue Marine Dolphin Components Corporation Debeg GmbH Decca Division, Litton Marine Systems, Bv Defender Industries, Inc. Digicourse, Inc. Digital Marine Electronics Corp. Datamarine International, Inc. Dornier System GmbH Del Norte Technology, Inc. Digital Oaceans Inc. Danaplus, Inc. R.L. Drake Company Dynascan Corporation Dytechna, Ltd Dynamote Corporation Dytek Laboratories, Inc. Euro Avionics Navigationssysteme Gmbh Emergency Beacon Corporation Echotec, Inc. Edo Corporation Electroacoustics Div. EEV, Inc. Efcom Communication Systems Eastman Kodak Allied Signal Elac Nautik Electronic Devices, Inc.

ELM EMC EMS ENA ENC EPM EPT ERC ESA ESC ESY FDN FEC FHE FJN FLA FLO FMM FNT FRC FST FTG FUJ FUR GAM GCA GEC GES GFC GFV GIS GNV GPI GPP GPR GRM GSC GTI GTO GVE GVT

ELMAN s.r.l Electric Motion Company Electro Marine Systems, Inc. Energy Analysts, Inc. Encron, Inc. Epsco Marine Eastprint, Inc. The Ericsson Corporation European Space Agency Electronics Emporium, Division Of Esc Products E-Systems, Eci Division Fluiddyne Furuno Electric Company Fish Hawk Electronics Jon Fluke Company Flarm Technolgy Floscan Incorporated First Mate Marine Autopilots Franklin Net and Twine, Limited The Fredericks Company Fastrax Oy T.G. Faria Corporation Fujitsu Ten Corporation of America Furuno USA, Inc. GRE America, Inc. Gulf Cellular Associates Gec Plessey Semiconductors Geostar Corporation Graphic Controls Corporation Gfv Marine Ltd. Galax Integrated Systems Geonav International Global Positioning Instrument Corporation GEO++ GmbH Global Positioning System Joint Program Office (Rockwell Collins) Garmin Corporation Gold Star Company, Limited Genesis Technology International Ltd Gro Electronics Guest Corporation Great Valley Technology

HAI HAL HAR HIG HIL HIT HMS HPK HRC HRT HTI HUL HWM IBM ICG ICO IFD IFI IME IMI IMM IMP IMR IMT INM INT IRT IST ITM ITR IWW JAN JAS JFR JMT JPI JRC JRI JTC JTR KBE

Hydragraphic Associates, Ltd HAL Communications Corporation Harris Corporation Hy-Gain Philips Navigation A/S Hi-Tec Hyde Marine Systems, Inc. Hewlett-Packard Harco Manufacturing Company Hart Systems, Inc. Heart Interface, Inc. Hull Electronics Company Honeywell Marine Systems Ibm Microelectronics Initiative Computing Usa, Inc. Initiative Computing Ag Icom of America, Inc. International Fishing Devices Instruments for Industry Imperial Marine Equipment International Marine Instruments ITT MacKay Marine Impulse Manufacturing, Inc. Ideal Technologies Inc International Marketing and Trading, Inc. Inmar Electronic and Sales, Inc. Intech, Inc. Intera Technologies, Ltd. Innerspace Technology, Inc. Intermarine Electronics, Inc. Itera, Limited Inland Waterways (Germany) Jan Crystals Jasco Research Ltd. Ray Jefferson Japan Marine Telecommunications J.P. INSTRUMENTS Japan Radio Company, Inc. J-R Industries, Inc. J-Tech Associates, Inc. Jotron Radiosearch, Ltd. KB Electronics, Ltd.

KBM KEL KHU KLA KME KMR KNC KNG KOD KRP KST KVH KYI L3A LAT LCI LEC LIT LMM LRD LSE LSP LST LTF LTI LWR MCA MCI MCL MDL MDS MEC MEG MES MEW MFR MFW MGN MGS MIE MIM

Kennebec Marine Company Knudsen Engineering, Ltd Kelvin Hughes Ltd Klein Associates, Inc. Kyushu Matsushita Electric King Marine Radio Corporation Kongsberg Norcontrols King Radio Corporation Koden Electronics Company, Ltd. Krupp International, Inc. Kongsberg Seatex A/S KVH Company Kyocera International, Inc. L3 Communications Recorders Division Latitude Corporation Lasercraft Inc. Lorain Electronics Corporation Litton Laser Systems Lamarche Manufacturing Company Lorad Littlemore Scientific Engineering Laser Plot, Inc. Lite Systems Engineering Littlefuse, Inc. Laser Technology, Inc. Lowrance Electronics Corportation Canadian Marconi Company Matsushita Communications Micrologic, Inc. Medallion Instruments, Inc. Marine Data Systems Marine Engine Center, Inc. Maritec Engineering GmbH Marine Electronics Service, Inc. Matsushita Electric Works Modern Products, Ltd Frank W. Murphy Manufacturing Magellan Corporation MG Electronic Sales Corporation Mieco, Inc. Marconi International Marine Company

MLE MLN MLP MLT MMB MME MMP MMS MMT MNI MNT MNX MOT MPI MPN MQS MRC MRE MRP MRR MRS MSB MSE MSF MSM MST MTA MTD MTG MTI MTK MTR MTS MUR MVX MXX NAT NAU NAV NEF NGS

Martha Lake Electronics Matlin Company Marlin Products Miller Technologies Marsh-McBirney, Inc. Marks Marine Engineering Metal Marine Pilot, Inc. Mars Marine Systems Micro Modular Technologies Micro-Now Instrument Company Marine Technology Marinex Motorola Megapulse, Inc. Memphis Net and Twine Company, Inc. Marquis Industries, Inc. Marinecomp, Inc. Morad Electronics Corporation Mooring Products of New England II Morrow, Inc. Marine Radio Service Mitsubishi Electric Company, Ltd. Master Electronics Microsoft Corporation Master Mariner, Inc. Mesotech Systems, Ltd. Marine Technical Associates Maritel Data Services Narine Technical Assistance Group Mobile Telesystems, Inc. Martech, Inc. Mitre Corporation, Inc. Mets, Inc. Murata Erie North America Magnavox Advanced Products and Systems Company Maxxima Marine Nautech, Limited Nauticall Navtec, Incorporated New England Fishing Gear, Inc. Navigation Sciences, Inc.

NMR NOM NOR NOV NSM NTI NTK NTS NUT NVC NVO NVS NWC OAR ODE ODN OHB OIN OKI OLY OMN OMT ORB ORE OSI OSL OTK PCE PCM PDM PLA PLI PMI PMP PNL PRK PSM PST PTC PTG PTH

Newmar Nav-Com, Inc. Nortech Surveys (Canada) NovAtel Communications, Ltd. Northstar Marine Northstar Technologies, Inc. Novatech Designs, Ltd. Navtech Systems Nautitech Pty, Ltd Navico Navionics, s.p.a. Navstar Naval Warfare Center O.A.R. Corporation Ocean Data Equipment Corporation Odin Electronics, Inc. OHB Systems Ocean instruments, Inc. Oki Electronic Industry Company Navstar Limited (Polytechnic Electronics) Omnetics Omnitech A/Ss Orbcomm Ocean Research Offshore Systems Intl. Offshore Systems, Ltd. Ocean Technology Pace pSea Marine Systems Prodelco Marine Systems Plath, C. Division of Litton Pilot Instruments Pernicka Marine Products Pacific Marine Products Points North, Ltd Perko, Inc. Pearce-Simpson Pointstar A/S Petro-Com P.T.I./Guest Pathcom, Inc.

RAC RAE RAY RCA RCH RCI RDC RDI RDM REC RFP RGC RGL RGY RLK RME RMR RSL RSM RTH RTN RWI SAE SAI SAJ SAL SAP SAT SBR SCL SCO SCR SEA SEC SEP SER SFN SGC SIG SIM SKA

Racal Marine, Inc. RCA Astro-Electronics Raytheon Marine Company RCA Service Company Roach Engineering Rochester Instruments, Inc. USCG R&D CENTER Radar Devices Ray-Dar Manufacturing Company Ross Engineering Company Rolfite Products, Inc. RCS Global Communications, Inc. Riegl Laser Measurement Systems Regency Electronics, Inc. Reelektronika.NL Racal Marine Electronics RCA Missile and Surface Radar Ross Laboratories, Inc. Robertson-Shipmate, USA PARTHUS Robertson Tritech Nyaskaien A/S Rockwell International Stn Atlas Elektronic GmbH SAIT, Inc. Saj Instrument Ab Consilium Marine AB Systems Engineering & Assessment, Ltd Satloc Sea-Bird electronics, Inc. Sokkia Company, Ltd Simoco Telecommunications Ltd Signalcrafters, Inc. SEA, Inc. Sercel Electronics of Canada Steel and Engine Products, Inc. Sercel France Seafarer Navigation International SGC, Inc. Signet, Inc. Simrad,Inc Skantek Corporation

SKP SLI SME SMF SMI SML SNP SNV SNY SOM SON SOV SPL SPT SRD SRF SRS SRT SSC SSE SSI SSN STC STI STL STM STO STT SVY SWI TBB TCN TDL TEL THR TLS TMT TNL TOP TRC TRS

Skipper Electronics A/S Starlink, Inc. Shakespeare Marine Electronics Seattle Marine and Fishing Supply Co. Sperry Marine, Inc. Simerl Instruments Science Applications International Corp Starnav Corporation Sony Corporation Mobile Electronics Sound Marine Electronics, Inc. Sonardyne International Ltd Sell Overseas America Spelmar Sound Powered Telephone SRD Labs Sirf Technology, Inc. Scientific Radio Systems, Inc. Standard Radio and Telefon AB Swedish Space Corporation Seven Star Electronics Sea Scout Industries SEPTENTRIO Standard Communications Sea-Temp Instrument Corporation Streamline Technology, Ltd Si-Tex Marine Electronics Stowe Marine Electronics Saab Transpondertech AB Savoy Electronics Swoffer Marine Instruments, Inc. Thompson Brothers Boat Manufacturing Company Trade Commission of Norway (THE) Tideland Signal Plessey Tellumat Thrane and Thrane A/A Telesystems Tamtech, Ltd. Trimble Navigation Topcon Positioning Systems, Inc. Tracor, Inc. Travroute Software

TSI TTK TTS TWC TXI UBX UEL UME UNF UNI UNP VAN VAR VCM VEX VIS VMR WAL WBG WBR WEC WHA WMM WMR WNG WSE WST WTC YAS

Techsonic Industries, Inc. Talon Technology Corporation Transtector Systems Transworld Communications, Inc. Texas Instruments, Inc. U-BLOX AG Ultra Electronics Ltd Umec Uniforce Electronics Company Uniden Corporation of America Unipas, Inc. Vanner, Inc. Varian Eimac Associates Videocom Vexillar Vessel Information Systems, Inc. Vast Marketing Corporation Walport USA Westberg Manufacturing, Inc. Wesbar Corporation Westinghouse Electric Corporation W-H Autopilots Wait Manufacturing and Marine Sales Company Wesmar Electronics Winegard Company Wilson Electronics Corporation West Electronics Ltd. Watercom Yaesu Electronics

Typical messages
GGA - Global Positioning System Fixed Data
Parameter Name 1 UTC Time 2 Latitude 3 N/S indicator 4 Longitude 5 E/W indicator 6 Position fix Example Unit Description 161229.487 hhmmss.sss 3723.2475 ddmm.mmmm (degrees + minutes) N N=north or S=south 12158.3416 dddmm.mmmm (degrees + minutes) W E=east or W=west 1 0: Fix not available or invalid

indicator

7 8 9 10 11 12 13 14

Satellites used HDOP MSL altitude Unit Geoid separation Unit Age of diff. corr. Diff. ref. station id

07 1.0 9.0 M M 0000

1: GPS SPS Mode, fix valid 2: Differential GPS, SPS Mode, fix valid 3: GPS PPS Mode, fix valid 6: Dead Reckoning Mode, fix valid (NMEA 2.3 or higher) Range: 0-12 Horizontal Dilution of Precision meters Altitude above mean sea level M=meters meters M=meters seconds Or null if DGPS is not used

Example: $GPGGA, 161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M,,,,0000*18

GLL - Geographic Position Latitude/Longitude

Parameter Name Example Unit Description 1 Latitude 3723.2475 ddmm.mmmm 2 N/S indicator N N=north or S=south 3 Longitude 12158.3416 dddmm.mmmm 4 E/W indicator W E=east or W=west 5 UTC Time 161229.487 hhmmss.sss A: Data is valid 6 Status A V: Data is not valid (NMEA 3.0 or higher) A: Autonomous 7 Mode A D: DGPS E: DR Example: $GPGLL,3723.2475,N,12158.3416,W,161229.487,A,A*41

GSA - GNSS DOP and Active Satellites

Parameter 1 Name Mode 1 Example Unit Description 1: Fix is not available 2: 2D (<4 SV's used) 3: 3D (>3 SV's used) M: Manual - forced to operate in 2D or 3D mode A: Automatic - allowed to automatically switch 2D/3D Sv on Channel 1

2 3

Mode 2 Satellite in solution, 07

4 5 6 7 8 9 10 11 12 13 14 15 16 17

ch 1 Satellite in solution, ch 2 Satellite in solution, ch 3 Satellite in solution, ch 4 Satellite in solution, ch 5 Satellite in solution, ch 6 Satellite in solution, ch 7 Satellite in solution, ch 8 Satellite in solution, ch 9 Satellite in solution, ch 10 Satellite in solution, ch 11 Satellite in solution, ch 12 PDOP HDOP VDOP

02

Sv on Channel 2 Sv on Channel 3 Sv on Channel 4 Sv on Channel 5 Sv on Channel 6 Sv on Channel 7 Sv on Channel 8 Sv on Channel 9 Sv on Channel 10 Sv on Channel 11 Sv on Channel 12

1.8 1.0 1.5

Position Dilution of Precision Horizontal Dilution of Precision Vertical Dilution of Precision

Example: $GPGSA,A,3,07,02,26,27,09,04,15,,,,,,1.8,1.0,1.5*33

GSV - GNSS Satellites in View

Parameter Name Example Unit Range Description 1 Number of messages 1-3 2 Message number 1-3 3 Satellites in view 07 4 Channel 1: Satelitte ID 07 1-32 Range: 1-32 5 Channel 1: Elevation 79 degrees 0-90 6 Channel 1: Azimuth 048 degrees 0-359 7 Channel 1: SNR (C/No) 42 dBHz 0-99 null when not tracking 8 Channel 2: Satelitte ID 07 1-32 Range: 1-32 9 Channel 2: Elevation 79 degrees 0-90 10 Channel 2: Azimuth 048 degrees 0-359 11 Channel 2: SNR (C/No) 42 dBHz 0-99 null when not tracking 12 Channel 3: Satelitte ID 07 1-32 Range: 1-32

13 14 15 16 17 18 19

Channel 3: Elevation 79 Channel 3: Azimuth 048 Channel 3: SNR (C/No) 42 Channel 4: Satelitte ID 07 Channel 4: Elevation 79 Channel 4: Azimuth 048 Channel 4: SNR (C/No) 42

degrees 0-90 degrees 0-359 dBHz 0-99 null when not tracking 1-32 Range: 1-32 degrees 0-90 degrees 0-359 dBHz 0-99 null when not tracking

Example: $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71 $GPGSV2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41

RMC - Recommended Minimum Specific GNSS Data

Parameter Name 1 UTC Time 2 3 4 5 6 7 8 9 10 11 Example Unit Description 161229.487 hhmmss.sss A: Data is valid Status A V: Data is not valid Latitude 3723.2475 ddmm.mmmm N/S indicator N N=north or S=south Longitude 12158.3416 dddmm.mmmm E/W indicator W E=east or W=west Speed over ground 0.13 knots Course over ground 309.62 degrees Date 120598 ddmmyy Magnetic variation degrees (NMEA 2.3 or higher) A: Autonomous Mode A degrees D: DGPS E: DR

Example: $GPRMC, 161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,,*10

VTG - Course Over Ground and Ground Speed

Parameter Name Example Unit Description 1 Course over ground 309.62 degrees Measured heading 2 Reference T T=True 3 Course degrees Measured heading 4 Reference M M=Magnetic 5 Speed 0.13 knots Measured horizontal speed 6 Units N N=knots 7 Speed 0.2 km/h Measured horizontal speed 8 Units K K=km/h

Mode

(NMEA 2.3 or higher) A: Autonomous degrees D: DGPS E: DR

Example: $GPVTG, 309.62, T,,M,0.13,N,0.2,K*6E

MSS - MSK Receiver Signal

Parameter 1 2 3 4 5 Name Signal strength Signal-toNoise ratio Beacon frequency Beacon bit rate Channel number Example Unit 55 27 318.0 100 1 dB dB kHz Currently tracked frequency bps The channel of the beacon being used if a multichannel beacon receiver is used. (NMEA 2.3 or higher) Description

Example: $GPMSS,55,27,318.0,100,1,*57

ZDA - SiRF Timing Message

Parameter Name Example Unit Description 1 UTC Time 181813 2 Day 14 days Range: 01-31 3 Month 10 months Range: 01-12 4 Year 2003 years Range: 1980-2079? 5 Local zone hour 00 Offset from UTC 6 Local zone minutes 00 Offset from UTC Example:

RMB - Recommended Minimum Navigation Information

Parameter 1 2 3 Status Crosstrack error Direction to steer Name Example A 161229.487 nautical miles L: Left R: Right Unit Description A: Data is valid V: Data is not valid

4 5 6 7 8 9 10 11 12 13 Example:

Origin waypoint id Destination waypoint id Latitude N/S indicator Longitude E/W indicator 3723.2475 N 12158.3416 W nautical miles degrees knots degrees ddmmyy A: Entered or perpendicular passed ddmm.mmmm (For destination waypoint) N=north or S=south dddmm.mmmm (For destination waypoint) E=east or W=west

Range to destination 0.13 Bearing to destination 309.62 Destination closing 2.2 velocity Arrival status

RMA - Navigation data from present position

Parameter 1 2 3 4 5 6 7 8 9 10 11 Example: Status Latitude N/S indicator Longitude E/W indicator not used not used Speed over ground Course over ground Variation Name Example A 3723.2475 N 12158.3416 W Unit Description A: Data is valid V: Data is not valid ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west

0.13 309.62

knots degrees degrees E: East W: West

Direction of variation E

SerialMon support

Framing. Decoding of RMC messages. Tracking of sent message types.