NEMA format.PDF

Glenn Baddeley - GPS - NMEA sentence

information

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 $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 - 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

$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 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 - 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

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

Total number of messages in sequence

Sequence number

This is first message in sequence

Satellite PRN

Unique ID (PRN) of satellite message relates to

GPS week number

1159

SV health

Bits 17-24 of almanac page

Eccentricity

441d

Reference time

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

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