The full NMEA-0183 standard is available from: Cindy Ensley National Marine Electronics Association P.O. Box 3435 New Bern, North Carolina 28564-3435 Phone (919)637-7759 Fax (919)637-8136 The current version, as of Nov. 94, is 2.1, and the cost is $75.00 The above address is new as of Oct. 94. TABLE 4 - TALKER IDENTIFIER MNEMONICS (Address Characters 1 and 2) TALKER DEVICE IDENTIFIER AUTOPILOT: General *AG Magnetic AP COMMUNICATIONS: Digital Selective Calling (DSC) *CD Satellite *CS Radio-Telephone (MF/HF) *CT Radio-Telephone (VHF) *CV Scanning Receiver *CX DECCA Navigation DE Direction Finder *DF Electronic Chart Display & Information System (ECDIS) EC Emergancy Position Indicating Beacon (EPIRB) *EP Engineroom Monitoring Systems ER Global Positioning System (GPS) GP HEADING SENSORS: Compass, Magnetic *HC Gyro, North Seeking *HE Gyro, Non-North Seeking HN Integrated Instrumentation II Integrated Navigation IN LORAN: Loran-A LA Loran-C LC OMEGA Navigation System OM Proprietary Code P Radar and/or ARPA *RA Sounder, depth *SD Electronic positioning system, other/general TR Sounder, scanning SS Turn Rate Indicator *TI TRANSIT Navigation System TR VELOCITY SENSORS: Doppler, other/general *VD Speed Log, Water, Magnetic VM Speed Log, Water, Mechanical VW TRANSDUCER YX TIMEKEEPERS, TIME/DATE: Atomic Clock ZA Chronometer ZC Quartz ZQ Radio Update, WWV or WWVH ZV Weather Instruments WI * Designated by I.E.C. for use with I.M.O. marine electronic devices. This is the minimum requirement for equipment that is specified by I.M.O. to meet S.O.L.A.S. regulations. Page 17 6.2 Field Definitions (continued) TABLE 5 - APPROVED SENTENCE FORMATTERS AAM - Waypoint Arrival Alarm............................... 22 ALM - GPS Almanac Data..................................... 22 APB - Autopilot Sentence "B"............................... 23 *ASD - Autopilot System Data................................ 23 BEC - Bearing & Distance to Waypoint, Dead Reckoning....... 23 BOD - Bearing, Origin to Destination....................... 24 BWC - Bearing & Distance to Waypoint, Great Circle......... 24 BWR - Bearing & Distance to Waypoint, Rhumb Line........... 24 BWW - Bearing, Waypoint to Waypoint........................ 24 DBT - Depth Below Transducer............................... 24 DCN - Decca Position....................................... 25 *DPT - Depth................................................ 25 *FSI - Frequency Set Information............................ 25 GGA - Global Positioning System Fix Data................... 26 GLC - Geographic Position, Loran-C......................... 26 GLL - Geographic Position, Latitude/Longitude.............. 27 GSA - GPS DOP and Active Satellites........................ 27 GSV - GPS Satellites in View............................... 27 GXA - TRANSIT Position..................................... 28 *HDG - Heading, Deviation & Variation....................... 28 *HDT - Heading, True........................................ 28 HSC - Heading Steering Command............................. 28 LCD - Loran-C Signal Data.................................. 29 MTW - Water Temperature.................................... 29 *MWV - Wind Speed and Angle................................. 29 OLN - Omega Lane Numbers................................... 29 *OSD - Own Ship Data........................................ 30 RMA - Recommend Minimum Specific Loran-C Data.............. 30 RMB - Recommend Minimum Navigation Information............. 31 RMC - Recommend Minimum Specific GPS/TRANSIT Data.......... 31 *ROT - Rate of Turn......................................... 32 *RPM - Revolutions.......................................... 32 *RSA - Rudder Sensor Angle.................................. 32 *RSD - RADAR System Data.................................... 32 RTE - Routes............................................... 33 *SFI - Scanning Frequency Information....................... 33 STN - Multiple Data ID..................................... 34 TRF - TRANSIT Fix Data..................................... 34 *TTM - Tracked Target Message............................... 35 *VBW - Dual Ground/Water Speed.............................. 35 VDR - Set and Drift........................................ 35 VHW - Water Speed and Heading.............................. 35 VLW - Distance Traveled through the Water.................. 36 VPW - Speed, Measured Parallel to Wind..................... 36 VTG - Track Made Good and Ground Speed..................... 36 WCV - Waypoint Closure Velocity............................ 36 WNC - Distance, Waypoint to Waypoint....................... 36 WPL - Waypoint Loacation................................... 36 XDR - Transducer Measurements.............................. 37 XTE - Cross-Track Error, Measured.......................... 37 XTR - Cross-Track Error, Dead Reckoning.................... 38 ZDA - Time & Date.......................................... 38 ZFO - UTC & Time from Origin Waypoint...................... 38 ZTG - UTC & Time to Destination Waypoint................... 38 AAM - Waypoint Arrival Alarm Status of arrival (entering the arrival circle, or passing the perpendicular of the course line) at waypoint c--c. $--AAM,A,A,x.x,N,c--c*hh | | | | | | | | | +---------------Waypoint ID | | | +------------------Units of radius, nautical miles | | +---------------------Arrival circle radius | +------------------------Status: A = perpendicular passed at waypoint +--------------------------Status: A = arrival circled entered ALM - GPS Almanac Data Contains GPS week number, satellite health and the complete almanac data for one satellite. Multiple messages may be transmitted, one for each satellite in the GPS constellation, up to maximum of 32 messages. $--ALM,x.x,x.x,xx,x.x,hh,hhhh,... | | | | | | | | | | | +-------e, eccentricity [3] | | | | +-----------SV health, bits 17-24 of each almanac page [2] | | | +--------------GPS week number [1] | | +------------------Satellite PRN number, 01 to 32 | +---------------------Message number +-------------------------Total number of messages hh,hhhh,hhhh,hhhhhh,hhhhhh,... | | | | | | | | | +--------Omega, argument of perigee [3] | | | +---------------SQRT(A), root of semi-major axis [3] | | +---------------------OMEGADOT, rate of right ascension [3] | +--------------------------(sigma) index i, inclination angle [3] +------------------------------t index OA, almanac reference time [3] hhhhhh,hhhhhh,hhh,hhh*hh | | | | | | | +-----------a index f1, clock parameter [3] | | +---------------a index f0, clock parameter [3] | +---------------------M index O , mean anomaly [3] +----------------------------(OMEGA) index O, longitude of ascension node[3] [1] Variable lengh integer, 4-digits maximum. Converted from (10) most significant binary bits of Subframe 1, Word 3. Reference Table 20-I, ICD-GPS-200, Rev. B. [2] Reference paragraph 20.3.3.5.1.3, Table 20-VII and Table 20-VIII, ICD- GPS-200, Rev. B. [3] Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and units. APB - Autopilot Sentence "B" Commonly used by autopilots this sentence contains navigation receiver warning flag status, cross-track-error, waypoint arriv- al status, initial bearing from origin waypoint to the destina- tion, continuous bearing from present position to destination and recommended heading-to-steer to destination waypoint for the active navigation leg of the journey. $--APB,A,A,x.x,a,N,A,A,x.x,a,c--c,... | | | | | | | | | | | | | | | | | | | +---Destination waypoint ID | | | | | | | | +-----\M/T Magnetic or True | | | | | | | +--------/Bearing origin to destination | | | | | | +------------Status: A = perpendicular passed at waypoint | | | | | +--------------Status: A = arrival circle entered | | | | +----------------XTE units, nautical miles | | | +------------------L/R Direction to steer | | +---------------------Magnitude of XTE (cross-track-error) | +------------------------Status: V = Loran-C Cycle Lock warning flag | A = OK or not used +--------------------------Status: V = Loran-C Blink or SNR warning V = general warning flag for other navigation systems when a reliable fix is not available x.x,a,x.x,a*hh | | | | | | | +-------------------\M/T Magnetic or True | | +----------------------/Heading-to-steer to destination waypoint | +-------------------------\M/T Magnetic or True +----------------------------/Bearing, Present position to destination *ASD - Autopilot System Data I.M.O. Ref. A342 (IX). Autopilot operating parameters, alarm status commanded course and vessel heading. (TO BE DETERMINED) BEC - Bearing & Distance to Waypoint - Dead Reckoning Time (UTC) and distance & bearing to, and loacation of, a speci- fied waypoint from the dead-reckoned present position. $--BEC,hhmmss.ss,llll.ll,a,... | | | | | +-------\N/S North or South | +--------------/Waypoint Latitude +------------------------UTC of observation yyyyy.yy,a,x.x,T,x.x,M,x.x,N,... | | | | | | | | | | | | | | | +--\nautical miles | | | | | | +-----/Distance | | | | | +--------\degrees Magnetic | | | | +-----------/Bearing | | | +--------------\E/W East or West | | +-----------------/Waypoint longitude | +--------------------\N/S North or South +---------------------------/Waypoint latitude c--c*hh | +-----------------------------Waypoint ID BOD - Bearing - Origin to Destination Bearing angle of the line, calculated at the origin waypoint, extend- ing to the destination waypoint from the origin waypoint for the active navigation leg of the journey. $--BOD,x.x,T,x.x,M,c--c,c--c*hh | | | | | | | | | | | +--------Origin waypoint ID | | | | +-------------Destination waypoint ID | | | +---------------\degrees Magnetic | | +------------------/Bearing | +---------------------\degrees True +------------------------/Bearing BWC - Bearing & Distance to Waypoint - Great Circle BWR - Bearing & Distance to Waypoint - Rhumb Line Time (UTC) and distance & bearing to, and location of, a specified waypoint from present position. '$--BWR' data is calculated along the rhumb line from present position rather than along the great circle path. $--BWC,hhmmss.ss,llll.ll,a,... | | | | | +-------\N/S North or South | +--------------/Waypoint latitude +------------------------UTC of observation yyyyy.yy,a,x.x,T,x.x,M,x.x,N,... | | | | | | | | | | | | | | | +--\nautical miles | | | | | | +-----/Distance | | | | | +--------\degrees Magnetic | | | | +-----------/Bearing | | | +--------------\degrees True | | +-----------------/Bearing | +--------------------\E/W East or West +---------------------------/longitude c--c*hh | +-----------------------------Waypoint ID $--BWR,hhmmss.ss,llll.ll,a,... | | | | | +-------\N/S North or South | +--------------/Waypoint latitude +------------------------UTC of observation yyyyy.yy,a,x.x,T,x.x,M,x.x,N,... | | | | | | | | | | | | | | | +--\nautical miles | | | | | | +-----/Distance | | | | | +--------\degrees Magnetic | | | | +-----------/Bearing | | | +--------------\degrees True | | +-----------------/Bearing | +--------------------\E/W East or West +---------------------------/longitude c--c*hh | +-----------------------------Waypoint ID