APPENDIX 3 DIGITAL INTERFACE
AP-9
GLL-Geographic Position - Latitude/Longitude
GNS-GNSS Fix Data
GSA-GNSS DOP and Active Satellites
GSV-GNSS Satellites in View
$**GLL,llll.lll,a,yyyyy.yyy,a,hhmmss.ss,a,x,*hh<CR><LF>
1 2 3 4 5 6 7
1. Latitude (0.00000 to 9000.00000)
2. N/S
3. Longitude (0.00000 to 18000.00000)
4. E/W
5. UTC of position (no use)
6. Status (A=data valid V=data invalid)
7. Mode indicator (A=Autonomous D=Differential S=Simulator)
$**GNS,hhmmss.ss,llll.lll,a,IIIII.III,a,c--c,xx,x.x,x.x,x.x,x.x,x.x,a*hh<CR><LF>
1 2 3 4 5 6 7 8 9 10 11 12 13
1. UTC of position (no use)
2. Latitude (0.00000 to 9000.00000)
3. N/S
4. Longitude (0.00000 to 18000.00000)
5. E/W
6. Mode indicator
N=No fix A=Autonomous D=Differential P=Precise R=Real Time Kinematic
F=Float RTK E=Estimated Mode M=Manual Input Mode S=Simulator Mode
7. Total number of satellites in use (00 to 99)
8. HDOP (0.0 to 999.99)
9. Antenna altitude, meters (-999.99 to 9999.99)
10. Geoidal separation (-999.99 to 9999.99)
11. Age of differential data (0 to 999)
12. Differential reference station ID (0000 to 1023)
13. Naivgational status indicator
$--GSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,x.x,x.x,x.x,*hh<CR><LF>
1 2 3 4 5 6
1. Mode (M=manual, forced to operate in 2=2D 3=3D mode
A=automatic, allowed to automatically switch 2D/3D)
2. Mode (1=fix not available 2=2D 3=3D)
3. ID number of satellites used in solution (01 to 96, null)
4. PDOP (0.00 to 999.99)
5. HDOP (0.00 to 999.99)
6. VDOP (0.00 to 999.99)
$**GSV,x,x,xx,xx,xx,xxx,xx.........,xx,xx,xxx,xx,*hh<CR><LF>
1 2 3 4 5 6 7 8 9
1. Total number of messages (1 to 9)
2. Message number (1 to 9)
3. Total number of satellites in view (01 to 99)
4. Satellite ID number (01 to 96)
5. Elevation, degrees (00 to 90)
6. Azimuth, degrees true (000 to 359)
7. SNR(C/No) (00 to 99(dB-Hz), null when not tracking)
8. Second and third SVs
9. Fourth SV
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