$GPRMB,A,x.x,a,c--c,d--d,llll.ll,e,yyyyy.yy,f,g.g,h.h,i.i,j*kk RMB = Recommended Minimum Navigation Information 1 = Data Status (V=navigation receiver warning) 2 = Crosstrack error in nautical miles 3 = Direction to steer (L or R) to correct error 4 = Origin waypoint ID# 5 = Destination waypoint ID# 6 = Destination waypoint latitude 7 = N or S 8 = Destination waypoint longitude 9 = E or W 10 = Range to destination in nautical miles 11 = Bearing to destination, degrees True 12 = Destination closing velocity in knots 13 = Arrival status; (A=entered or perpendicular passed) 14 = Checksum
$GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh RMC = Recommended Minimum Specific GPS/TRANSIT Data 1 = UTC of position fix 2 = Data status (V=navigation receiver warning) 3 = Latitude of fix 4 = N or S 5 = Longitude of fix 6 = E or W 7 = Speed over ground in knots 8 = Track made good in degrees True 9 = UT date 10 = Magnetic variation degrees (Easterly var. subtracts from true course) 11 = E or W 12 = Checksum
$GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh GGA = Global Positioning System Fix Data 1 = UTC of Position 2 = Latitude 3 = N or S 4 = Longitude 5 = E or W 6 = GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix) 7 = Number of satellites in use [not those in view] 8 = Horizontal dilution of position 9 = Antenna altitude above/below mean sea level (geoid) 10 = Meters (Antenna height unit) 11 = Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level. -=geoid is below WGS-84 ellipsoid) 12 = Meters (Units of geoidal separation) 13 = Age in seconds since last update from diff. reference station 14 = Diff. reference station ID# 15 = Checksum
$GPVTG,t,T,,,s.ss,N,s.ss,K*hh VTG = Actual track made good and speed over ground 1 = Track made good 2 = Fixed text 'T' indicates that track made good is relative to true north 3 = not used 4 = not used 5 = Speed over ground in knots 6 = Fixed text 'N' indicates that speed over ground in in knots 7 = Speed over ground in kilometers/hour 8 = Fixed text 'K' indicates that speed over ground is in kilometers/hour 9 = Checksum
$GPRMA,A,llll.ll,N,lllll.ll,W,,,ss.s,ccc,vv.v,W*hh RMA = Navigation data from present position 1 = Data status 2 = Latitude 3 = N/S 4 = longitude 5 = W/E 6 = not used 7 = not used 8 = Speed over ground in knots 9 = Course over ground 10 = Variation 11 = Direction of variation E/W 12 = Checksum
$GPGSA,A,3,19,28,14,18,27,22,31,39,,,,,1.7,1.0,1.3*35 GSA = GPS receiver operating mode, SVs used for navigation, and DOP values. 1 = Mode: M=Manual, forced to operate in 2D or 3D A=Automatic, 3D/2D 2 = Mode: 1=Fix not available 2=2D 3=3D 3-14 = IDs of SVs used in position fix (null for unused fields) 15 = PDOP 16 = HDOP 17 = VDOP
GSV = Number of SVs in view, PRN numbers, elevation, azimuth & SNR values.
1 = Total
number of messages of this type in this cycle
2 = Message
number
3 = Total number of SVs in view
4 = SV PRN
number
5 = Elevation in degrees, 90 maximum
6 = Azimuth,
degrees from true north, 000 to 359
7 = SNR, 00-99 dB (null
when not tracking)
8-11 = Information about second SV, same as field 4-7
12-15= Information about third
SV, same as field 4-7
16-19= Information about fourth SV, same as field 4-7