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GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183
Glenn
Glenn
Glenn
Glenn Baddeley
Baddeley
Baddeley
Baddeley -
-
-
- GPS
GPS
GPS
GPS -
-
-
- NMEA
NMEA
NMEA
NMEA sentence
sentence
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 ]
All
All
All
All $GPxxx
$GPxxx
$GPxxx
$GPxxx sentence
sentence
sentence
sentence codes
codes
codes
codes and
and
and
and short
short
short
short descriptions
descriptions
descriptions
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 ]
26
26
26
26 interpreted
interpreted
interpreted
interpreted sentences
sentences
sentences
sentences transmitted
transmitted
transmitted
transmitted by
by
by
by GPS
GPS
GPS
GPS unit
unit
unit
unit
$GPAAM - Waypoint Arrival Alarm

GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183
$GPALM - GPS Almanac Data (Can
(Can
(Can
(Can also
also
also
also be
be
be
be received
received
received
received by
by
by
by GPS
GPS
GPS
GPS unit)
unit)
unit)
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
$G PGST - 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:
AAM Arrival Alarm
A Arrival circle entered
A Perpendicular passed
0.10 Circle radius
N Nautical miles
WPTNME Waypoint name

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
Field
Field
Field
Field Example
Example
Example
Example Comments
Comments
Comments
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

GPS 世界 WWW.GPSWorld.COM.CN NMEA 0183
F1 clock parameter 001
Checksum *5B
$GPAPB
$GPAPB
$GPAPB
$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
$GPBOD
$GPBOD
$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
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