$GPRMC: NMEA standard Recommended Minimum GPS/Transit Data

The $GPRMC message is output at a variable rate between 5Hz and 20 Hz.

Format:

$GPRMC,hhmmss.ss,A,llll.llll,a,yyyyy.yyyy,a,x.x,x.x,ddmmyy,x.x,a*hh

Field	Name	DVL Notes
hhmmss.ss	UTC of position fix	Power-on time = midnight
A	Data status (V=navigation receiver warning)	“A” if GPS is connected and showing A status “A” if DVL has a fix “V” otherwise
llll.llll	Latitude of fix	DVL sends four decimal digits of minute; only valid if data status is “A”; field may be empty
a	N or S	Only valid if data status is “A”; field may be empty
yyyyy.yyyy	Longitude of fix	DVL sends four decimal digits of minute; only valid if data status is “A”; field may be empty
a	E or W	Only valid if data status is “A”; field may be empty
x.x	Speed over ground in knots	DVL speed (directionless) in knots; only valid if data status is “A”; field may be empty
x.x	Track made good in degrees True	Heading of sensor head bow direction, from IMU, in Vehicle Frame (see Appendix on coordinate systems)
ddmmyy	UT date	Always “010120”
x.x	Magnetic variation degrees	Always empty
direction	E or W	Always empty
*	End of fields
hh	Checksum	NMEA standard

hh	Checksum	NMEA standard

Examples:

$GPRMC,193131.000,V,,,,,0.58,168.81,280720,,,*4A 
$GPRMC,192921.000,A,4458.1690,N,09331.0392,W,0.01,36.57,280720,,,*43