Vector Sensor Reference Manual 87
6.6.12 HDT Data Message
This message provides true heading of the vessel. This is the direction that the vessel (Vector
Antenna Array) is pointing and is not necessarily the direction of vessel motion (the course over
ground). The HDT data message has the following format.
$HEHDT,x.x,T*cc<CR><LF>
Where ‘x.x’ is the current heading in degrees and ‘T’ indicates true heading.
6.6.13 ROT Data Message
The ROT data message contains the vessel’s rate of turn information. It has the following format.
$HEROT,x.x,A*cc<CR><LF>
Where ‘x.x’ is the rate of turn in degrees per minute and ‘A’ is a flag indicating that the data is valid.
The ‘x.x’ field is negative when the vessel bow turns to port.
6.6.14 HPR Data Message
The $PSAT,HPR message is a proprietary NMEA sentence that provides the heading, pitch / roll
information, and time in a single data message. This message has the following format.
$PSAT,HPR,time,pitch,roll,*7B<CR><LF>
Field Description
time GPS time (HHMMSS.SS)
heading Heading (degrees)
pitch Pitch (degrees)
roll Roll (degrees)
6.7 Beacon Receiver Commands
As mentioned above, we have implemented some command and message pass-through intelligence
for communication to the internal SBX beacon module. In this configuration, the commands in
the following table may be issued to the beacon receiver through either Port A or Port B of the
Vector Sensor.
Table 6-16 SBX Beacon Commands
Message Description
$GPMSK Command to turn on diagnostic information.
$PCSI,1 This command is used to get beacon status information from the SBX beacon
engine inside the Vector Sensor.
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