10. Appendix
10-11
2) Equipment in normal operation A = yes, V = no
This field can be used to indicate the current equipment status. This could be the result of
an built-in integrity testing function.
3) The sequential sentence identifier provides a message identification number from 0 to 9
that is sequentially assigned and is incremented for each new sentence. The count resets to
0 after 9 is used.
2) RMC – Recommended minimum specific GNSS data
$--RMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,xxxxxx,x.x,a,a,a*hh<CR><LF>
1 2 3 4 5 6 7 8 9 10
1: UTC of position fix
2: Status 3) A = data valid V = navigation receiver warning
3: Latitude, N/S
4: Longitude, E/W
5: Speed over ground, knots
6: Course over ground, degrees true
7: Date: dd/mm/yy
8: Magnetic variation,degrees, E/W 1)
9: Mode indicator 2) 3)
10: Navigational status 4)
Note;
1) E = Easterly variation subtracts from True course
W = Westerly variation adds to True course
2) Positioning system mode Indicator:
A = Autonomous. Satellite system used in non-differential mode in position fix;
D = Differential. Satellite system used in differential mode in position fix;
E = Estimated (dead reckoning) mode;
F = Float RTK. Satellite system used in real time kinematic mode with floating integers;
M = Manual input mode;
N = No fix. Satellite system not used in position fix, or fix not valid;
P = Precise. Satellite system used in precision mode. Precision mode is defined as: no
deliberate degradation (such as selective availability) and higher resolution code
(P-code) is used to compute position fix. P is also used for satellite system used in
multi-frequency, SBAS or Precise Point Positioning (PPP) mode;
R = Real time kinematic. Satellite system used in RTK mode with fixed integers;
S = Simulator mode.
3) The positioning system mode indicator field supplements the positioning system status field.
The status field should be set to V = Invalid for all values of the mode indicator except for
A= Autonomous, D = Differential, F = Float RTK, P = Precise and R = Real time kinematic.
The positioning system mode indicator and status fields should not be null fields.
4) The navigational status indicator is according to IEC 61108 requirements on ‘Navigational
(or Failure) warnings and status indications’. This field should not be a NULL field and the
character should take one of the following values:
S = Safe when the estimated positioning accuracy (95 % confidence) is within the selected
accuracy level corresponding to the actual navigation mode, and/or integrity is
available and within the requirements for the actual navigation mode, and/or a new
valid position has been calculated within 1 s for a conventional craft and 0,5 s for a
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