Message ID Description
GPGGA GNGGA 3D position
GPGLL GNGLL 2D position
GPRMC GNRMC 2D position, 2D velocity and coarse time
GPVTG GNVTG 2D velocity
GPHDT GNHDT HEHDT Heading
GPGSV GNGSV Satellites
GPGSA GNGSA Dilution of Precision
GPZDA GNZDA Time
xxPIPS Depth below surface
xxVBW Water speed, ground speed
xxHDM Magnetic heading
PSIMSSB SSBL position
xxVHW Water speed and heading
xxDBS Depth below surface
Table 36: Supported NMEA messages
10.6.1.29 Novatel GNSS Input
Type:
Serial Receive
GPIO Port:
2
Auxiliary:
Receive
Description
:
This function is designed for interfacing Boreas with a Novatel GNSS receiver. It accepts
data in the Novatel binary format and requires messages BESTPOS and BESTVEL at
rates higher than 1 Hz (20Hz recommended). The message BESTSATS is optional to
display detailed satellite information. The message HEADING is also supported for
ALIGN capable receivers.
10.6.1.30 Topcon GNSS Input
Type:
Serial Receive
GPIO Port:
2
Auxiliary:
Receive
Description
:
This function is designed for interfacing Boreas with a Topcon GNSS receiver. It accepts
data in the GRIL TPS binary format and expects messages PG and VG at rates higher
than 1 Hz.
10.6.1.31 ANPP Input
Type:
Serial Receive
GPIO Port:
2
v1.2 Page 104 11 Oct 2022
Boreas Reference Manual • Interfacing
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