Page 313 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition

• SS—Sounder, Scanning
• TI—Turn Rate Indicator
A short sample list of sentence definitions (from NMEA) for a simple output device (such as a compass) and a bit more complicated device (such as a GPS):
COMPASS
HDG—Heading—Deviation & Variation 123456
$HCHDG,x.x,x.x.a,x.x,a*hh<CR><LF>
Field Number
1. Magnetic Sensor heading in degrees
2. Magnetic Deviation, degrees
3. MagneticDeviationdirection,E5Easterly,W5Westerly 4. Magnetic Variation degrees
5. MagneticVariationdirection,E5Easterly,W5Westerly 6. Checksum
GPS
GGA—Global Positioning System Fix Data—Time, Position, and fix related data for a GPS
receiver.
111111 1 13456789012345
12.1 Theory 305
$GPGGA,hhmmss.ss,1111.11,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF>
Field Number
1. Universal Time Coordinated (UTC)
2. Latitude
3. N or S (North or South)
4. Longitude
5. E or W (East or West)
6. GPS Quality Indicator

0 5 Fix not available

15GPSfix

2 5 Differential GPS fix (values above 2 are 2.3 features)

35PPSfix

4 5 Real Time Kinematic

55FloatRTK

6 5 Estimated (dead reckoning)

7 5 Manual input mode

8 5 Simulation mode
7. Number of satellites in view, 00-12
8. Horizontal Dilution of precision (meters)