> For the complete documentation index, see [llms.txt](https://docs.ceruleansonar.com/c/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.ceruleansonar.com/c/dvl-75/communicating-with-the-dvl/outgoing-message-formats-dvl-to-host/usdgprmc-nmea-standard-recommended-minimum-gps-transit-data.md).

# $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) | <p>“A” if GPS is connected and showing A status</p><p>“A” if DVL has a fix</p><p>“V” otherwise</p>    |
| 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 |
| -- | -------- | ------------- |

&#x20;

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
```