|
I saved this from a usenet post. It's sort of long for
decwindows readers, but if folks keep warning them about long
notes, they'll never fix their code...
From rec.aviation.misc Mon Oct 4 13:35:13 1993
Xref: a2i rec.boats:15064 rec.aviation.misc:8563
Path: a2i!sgiblab!swrinde!cs.utexas.edu!math.ohio-state.edu!howland.reston.ans.net!agate!library.ucla.edu!news.mic.ucla.edu!unixg.ubc.ca!erich.triumf.ca!bennett
From: [email protected] (P.Bennett)
Newsgroups: rec.boats,rec.aviation.misc
Subject: NMEA 0183 sentence types, etc. (long)
Date: 3 Oct 1993 21:55 PST
Organization: TRIUMF: Tri-University Meson Facility
Lines: 344
Distribution: world
Message-ID: <[email protected]>
References: <[email protected]> <[email protected]> <[email protected]> <[email protected]>
NNTP-Posting-Host: erich.triumf.ca
News-Software: VAX/VMS VNEWS 1.41
The following is a short excerpt from a ~200K document I have on NMEA 0183 -
sorry for using so much net.bandwidth, but there does seem to be a lot of
interest in this...
TABLE 4 - TALKER IDENTIFIER MNEMONICS
(Address Characters 1 and 2)
TALKER DEVICE IDENTIFIER
AUTOPILOT: General *AG
Magnetic AP
COMMUNICATIONS: Digital Selective Calling (DSC) *CD
Satellite *CS
Radio-Telephone (MF/HF) *CT
Radio-Telephone (VHF) *CV
Scanning Receiver *CX
DECCA Navigation DE
Direction Finder *DF
Electronic Chart Display & Information System (ECDIS) EC
Emergancy Position Indicating Beacon (EPIRB) *EP
Engineroom Monitoring Systems ER
Global Positioning System (GPS) GP
HEADING SENSORS: Compass, Magnetic *HC
Gyro, North Seeking *HE
Gyro, Non-North Seeking HN
Integrated Instrumentation II
Integrated Navigation IN
LORAN: Loran-A LA
Loran-C LC
OMEGA Navigation System OM
Proprietary Code P
Radar and/or ARPA *RA
Sounder, depth *SD
Electronic positioning system, other/general TR
Sounder, scanning SS
Turn Rate Indicator *TI
TRANSIT Navigation System TR
VELOCITY SENSORS: Doppler, other/general *VD
Speed Log, Water, Magnetic VM
Speed Log, Water, Mechanical VW
TRANSDUCER YX
TIMEKEEPERS, TIME/DATE: Atomic Clock ZA
Chronometer ZC
Quartz ZQ
Radio Update, WWV or WWVH ZV
Weather Instruments WI
*
Designated by I.E.C. for use with I.M.O. marine electronic
devices. This is the minimum requirement for equipment that is
specified by I.M.O. to meet S.O.L.A.S. regulations.
Page 17
6.2 Field Definitions
(continued)
TABLE 5 - APPROVED SENTENCE FORMATTERS
AAM - Waypoint Arrival Alarm............................... 22
ALM - GPS Almanac Data..................................... 22
APB - Autopilot Sentence "B"............................... 23
*ASD - Autopilot System Data................................ 23
BEC - Bearing & Distance to Waypoint, Dead Reckoning....... 23
BOD - Bearing, Origin to Destination....................... 24
BWC - Bearing & Distance to Waypoint, Great Circle......... 24
BWR - Bearing & Distance to Waypoint, Rhumb Line........... 24
BWW - Bearing, Waypoint to Waypoint........................ 24
DBT - Depth Below Transducer............................... 24
DCN - Decca Position....................................... 25
*DPT - Depth................................................ 25
*FSI - Frequency Set Information............................ 25
GGA - Global Positioning System Fix Data................... 26
GLC - Geographic Position, Loran-C......................... 26
GLL - Geographic Position, Latitude/Longitude.............. 27
GSA - GPS DOP and Active Satellites........................ 27
GSV - GPS Satellites in View............................... 27
GXA - TRANSIT Position..................................... 28
*HDG - Heading, Deviation & Variation....................... 28
*HDT - Heading, True........................................ 28
HSC - Heading Steering Command............................. 28
LCD - Loran-C Signal Data.................................. 29
MTW - Water Temperature.................................... 29
*MWV - Wind Speed and Angle................................. 29
OLN - Omega Lane Numbers................................... 29
*OSD - Own Ship Data........................................ 30
RMA - Recommend Minimum Specific Loran-C Data.............. 30
RMB - Recommend Minimum Navigation Information............. 31
RMC - Recommend Minimum Specific GPS/TRANSIT Data.......... 31
*ROT - Rate of Turn......................................... 32
*RPM - Revolutions.......................................... 32
*RSA - Rudder Sensor Angle.................................. 32
*RSD - RADAR System Data.................................... 32
RTE - Routes............................................... 33
*SFI - Scanning Frequency Information....................... 33
STN - Multiple Data ID..................................... 34
TRF - TRANSIT Fix Data..................................... 34
*TTM - Tracked Target Message............................... 35
*VBW - Dual Ground/Water Speed.............................. 35
VDR - Set and Drift........................................ 35
VHW - Water Speed and Heading.............................. 35
VLW - Distance Traveled through the Water.................. 36
VPW - Speed, Measured Parallel to Wind..................... 36
VTG - Track Made Good and Ground Speed..................... 36
WCV - Waypoint Closure Velocity............................ 36
WNC - Distance, Waypoint to Waypoint....................... 36
WPL - Waypoint Loacation................................... 36
XDR - Transducer Measurements.............................. 37
XTE - Cross-Track Error, Measured.......................... 37
XTR - Cross-Track Error, Dead Reckoning.................... 38
ZDA - Time & Date.......................................... 38
ZFO - UTC & Time from Origin Waypoint...................... 38
ZTG - UTC & Time to Destination Waypoint................... 38
AAM - Waypoint Arrival Alarm
Status of arrival (entering the arrival circle, or passing the
perpendicular of the course line) at waypoint c--c.
$--AAM,A,A,x.x,N,c--c*hh<CR><LF>
| | | | |
| | | | +---------------Waypoint ID
| | | +------------------Units of radius, nautical miles
| | +---------------------Arrival circle radius
| +------------------------Status: A = perpendicular passed at waypoint
+--------------------------Status: A = arrival circled entered
ALM - GPS Almanac Data
Contains GPS week number, satellite health and the complete almanac
data for one satellite. Multiple messages may be transmitted, one
for each satellite in the GPS constellation, up to maximum of 32
messages.
$--ALM,x.x,x.x,xx,x.x,hh,hhhh,...
| | | | | |
| | | | | +-------e, eccentricity [3]
| | | | +-----------SV health, bits 17-24 of each almanac page [2]
| | | +--------------GPS week number [1]
| | +------------------Satellite PRN number, 01 to 32
| +---------------------Message number
+-------------------------Total number of messages
hh,hhhh,hhhh,hhhhhh,hhhhhh,...
| | | | |
| | | | +--------Omega, argument of perigee [3]
| | | +---------------SQRT(A), root of semi-major axis [3]
| | +---------------------OMEGADOT, rate of right ascension [3]
| +--------------------------(sigma) index i, inclination angle [3]
+------------------------------t index OA, almanac reference time [3]
hhhhhh,hhhhhh,hhh,hhh*hh<CR><LF>
| | | |
| | | +-----------a index f1, clock parameter [3]
| | +---------------a index f0, clock parameter [3]
| +---------------------M index O , mean anomaly [3]
+----------------------------(OMEGA) index O, longitude of ascension node[3]
[1] Variable lengh integer, 4-digits maximum. Converted from (10) most
significant binary bits of Subframe 1, Word 3. Reference Table 20-I,
ICD-GPS-200, Rev. B.
[2] Reference paragraph 20.3.3.5.1.3, Table 20-VII and Table 20-VIII, ICD-
GPS-200, Rev. B.
[3] Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and
units.
APB - Autopilot Sentence "B"
Commonly used by autopilots this sentence contains navigation
receiver warning flag status, cross-track-error, waypoint arriv-
al status, initial bearing from origin waypoint to the destina-
tion, continuous bearing from present position to destination
and recommended heading-to-steer to destination waypoint for the
active navigation leg of the journey.
$--APB,A,A,x.x,a,N,A,A,x.x,a,c--c,...
| | | | | | | | | |
| | | | | | | | | +---Destination waypoint ID
| | | | | | | | +-----\M/T Magnetic or True
| | | | | | | +--------/Bearing origin to destination
| | | | | | +------------Status: A = perpendicular passed at waypoint
| | | | | +--------------Status: A = arrival circle entered
| | | | +----------------XTE units, nautical miles
| | | +------------------L/R Direction to steer
| | +---------------------Magnitude of XTE (cross-track-error)
| +------------------------Status: V = Loran-C Cycle Lock warning flag
| A = OK or not used
+--------------------------Status: V = Loran-C Blink or SNR warning
V = general warning flag for other navigation
systems when a reliable fix is not available
x.x,a,x.x,a*hh<CR><LF>
| | | |
| | | +-------------------\M/T Magnetic or True
| | +----------------------/Heading-to-steer to destination waypoint
| +-------------------------\M/T Magnetic or True
+----------------------------/Bearing, Present position to destination
*ASD - Autopilot System Data
I.M.O. Ref. A342 (IX). Autopilot operating parameters, alarm status
commanded course and vessel heading.
(TO BE DETERMINED)
BEC - Bearing & Distance to Waypoint - Dead Reckoning
Time (UTC) and distance & bearing to, and loacation of, a speci-
fied waypoint from the dead-reckoned present position.
$--BEC,hhmmss.ss,llll.ll,a,...
| | |
| | +-------\N/S North or South
| +--------------/Waypoint Latitude
+------------------------UTC of observation
yyyyy.yy,a,x.x,T,x.x,M,x.x,N,...
| | | | | | | |
| | | | | | | +--\nautical miles
| | | | | | +-----/Distance
| | | | | +--------\degrees Magnetic
| | | | +-----------/Bearing
| | | +--------------\E/W East or West
| | +-----------------/Waypoint longitude
| +--------------------\N/S North or South
+---------------------------/Waypoint latitude
c--c*hh<CR><LF>
|
+-----------------------------Waypoint ID
BOD - Bearing - Origin to Destination
Bearing angle of the line, calculated at the origin waypoint, extend-
ing to the destination waypoint from the origin waypoint for the
active navigation leg of the journey.
$--BOD,x.x,T,x.x,M,c--c,c--c*hh<CR><LF>
| | | | | |
| | | | | +--------Origin waypoint ID
| | | | +-------------Destination waypoint ID
| | | +---------------\degrees Magnetic
| | +------------------/Bearing
| +---------------------\degrees True
+------------------------/Bearing
BWC - Bearing & Distance to Waypoint - Great Circle
BWR - Bearing & Distance to Waypoint - Rhumb Line
Time (UTC) and distance & bearing to, and location of, a specified
waypoint from present position. '$--BWR' data is calculated along the
rhumb line from present position rather than along the great circle
path.
$--BWC,hhmmss.ss,llll.ll,a,...
| | |
| | +-------\N/S North or South
| +--------------/Waypoint latitude
+------------------------UTC of observation
yyyyy.yy,a,x.x,T,x.x,M,x.x,N,...
| | | | | | | |
| | | | | | | +--\nautical miles
| | | | | | +-----/Distance
| | | | | +--------\degrees Magnetic
| | | | +-----------/Bearing
| | | +--------------\degrees True
| | +-----------------/Bearing
| +--------------------\E/W East or West
+---------------------------/longitude
c--c*hh<CR><LF>
|
+-----------------------------Waypoint ID
$--BWR,hhmmss.ss,llll.ll,a,...
| | |
| | +-------\N/S North or South
| +--------------/Waypoint latitude
+------------------------UTC of observation
yyyyy.yy,a,x.x,T,x.x,M,x.x,N,...
| | | | | | | |
| | | | | | | +--\nautical miles
| | | | | | +-----/Distance
| | | | | +--------\degrees Magnetic
| | | | +-----------/Bearing
| | | +--------------\degrees True
| | +-----------------/Bearing
| +--------------------\E/W East or West
+---------------------------/longitude
c--c*hh<CR><LF>
|
+-----------------------------Waypoint ID
Peter Bennett VE7CEI | Vessels shall be deemed to be in sight
Internet: [email protected] | of one another only when one can be
Bitnet: bennett@triumfer | observed visually from the other
TRIUMF, Vancouver, B.C., Canada | ColRegs 3(k)
|