Except when a=4 when the form is
$HEROT,zxxx.x,A*cc<CR><LF>
and where z = sign as follows:
+ (or missing) turning to starboard (i.e. heading value is increasing)
- turning to port (i.e. heading value is decreasing)
and cc = checksum
xxx.x = Rate of Turn in degrees per minute
6 References
1 A5022 data sheet
2 NMEA-0183 specification
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