$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:
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