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The variations of NMEA 0183 which are currently supported by the autopilot along
with the information the autopilot uses from that sentence are listed below:
RMA
Loran C Navigation Information - Receiver
Status plus Vessel Speed plus Variation
RMC
GPS Navigation Information – Receiver
Status plus Vessel Speed plus Variation
The RMA or RMC data sentence is always combined with the RMB data sentence.
RMB
Generic Navigation Information - Cross Track
Error plus Heading To Steer from vessels
present position to the end of the track
(Degree's True only).
APB
Autopilot Interface Format - King Version -
Cross Track Error plus Heading To Steer from
the vessel's present position to end of track.
APB
Autopilot Interface Format - NMEA Version -
Cross Track Error plus Heading To Steer from
the vessel's present position to end of track.
APA
Autopilot Interface Format - Cross Track Error
plus Heading To Steer from beginning to end
of track.
XTE
Cross Track Error - Cross Track Error plus
Receiver Status.
XTE is always combined with one of the following:
BOD
Bearing Origin to Destination – Bearing from
the beginning of the track to end of the track.
This is the preferred heading format, or;
WBD
Waypoint Bearing and Distance – Proprietary
output from Northstar Lorans. Heading to Steer
is from the vessel's present position to the end
of the track;
HSC
Heading Steering Command – Heading To
Steer from the vessel's present position to the
end of the track.
The vessel's speed is read from the RMA or RMC data sentence or one of the
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