$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)

ā€œAā€ if GPS is connected and showing A status

ā€œAā€ if DVL has a fix

ā€œVā€ otherwise

llll.llll

Latitude of fix

DVL sends four decimal digits of minute; only valid if data status is ā€œAā€; field may be empty

a

N or S

Only valid if data status is ā€œAā€; field may be empty

yyyyy.yyyy

Longitude of fix

DVL sends four decimal digits of minute; only valid if data status is ā€œAā€; field may be empty

a

E or W

Only valid if data status is ā€œAā€; field may be empty

x.x

Speed over ground in knots

DVL speed (directionless) in knots; only valid if data status is ā€œAā€; 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 ā€œ010120ā€

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

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