ComNav P4 - Table 8 - NMEA 0183 Sentences Accepted by the P4

ComNav P4 Installation and Operation Appendices
Document PN 29010100 V1r0 - 172 -
Sentence
Description
Data Used
*APA
Autopilot Sentence “A”
Cross-Track Error, Arrival Status, Bearing from
Origin to Destination, Waypoint ID
*APB
Autopilot Sentence “B”
Cross-Track Error, Bearing from Origin to
Destination, Waypoint ID, Course to Steer
*BOD
Bearing – Origin to Destination
Bearing from Origin to Destination, Waypoint
ID
*BWC
Bearing and Distance to
Waypoint
Range to Destination
*GLL
Geographic Position
(Latitude and Longitude)
Latitude, Longitude
*HDG
Heading, Deviation and
Variation
Magnetic Heading, Magnetic Variation
*HDM
Heading, Magnetic
Magnetic Heading
*HDT
Heading, True
True Heading
*HSC
Heading Steering Command
Course to Steer
*MWV
Speed and Angle
Angle, Speed
*RMA
Recommended Minimum
Specific Loran-C Data
Speed
*RMB
Recommended Minimum
Navigation Information
Cross-Track Error, Waypoint ID, Range to
Destination, Bearing from Origin to Destination,
Arrival Status
*RMC
Recommended Minimum
Specific GNSS Data
Speed, Magnetic Variation
*VBW
Dual Ground / Water Speed
Speed
*VHW
Water Speed and Heading
Speed
*VTG
Course Over Ground and Speed
Speed
*VWR
Apparent Speed and Angle
Angle, Speed
*VWT
True Speed and Angle
Angle, Speed
*XTE
Cross-Track Error
Cross-Track Error
Table 8 – NMEA 0183 Sentences Accepted by the P4
All sentences received must have valid checksums. Sentences which do not have any checksums, or
have invalid checksums, will be ignored. In some cases, if the missing/invalid condition persists long
enough, an INVALID CRS DATA, SPEED DATA, and/or HEADING error will occur.
A number of the various data values used by the autopilot can be received in one or more different
sentences (for example, Speed can be received in VTG, VHW, VBW, RMA or RMC). If a particular data
value is received in more than one sentence, then the value in the highest-priority sentence – per Table
8 – will be the one used by the autopilot.