Simrad Robertson AP9 Mk3 - Specification of Messages; Bearing Steering; CTS Steering; Priority (Mixed) Steering

Robertson AP9 Mk3 Autopilot
4-14 20169223D
4.17 Specification of messages
Data that are used are underlined. Which steering mode to be used
depends on the received messages as follows.
CTS steering
$--XTE,A/V,A/V,X.XX,L/R,N[CR][LF]
Bearing steering
$--BWR,XXXXXX,XXXX.XX,N,XXXXX.XX,W,XXX,T,XXX,M,XXX.X,N,XXX[CR][LF]
$--BWC,XXXXXX,XXXX.XX,N,XXXXX.XX,W,XXX,T,XXX,M,XXX.X,N,XXX[CR][LF]
$--BWW,XXX,T,XXX,M,XXX,XXX[CR][LF]$--BOD,XXX,T,XXX,M,XXX,XXX[CR][LF]
$--HSC,XXX,T,XXX,M[CR][LF]
Priority (mixed) steering
(cross-track with automatic new bearing at waypoints)
$--APA,A/V,A/V,X.XX,L/R,N,A,A,XXX,M/T,XXX[CR][LF]
$--APB,A/V,A/V,X.XX,L/R,N,A,A,XXX,M/T,XXX,XXX,M/T,XXX,M/T[CR][LF]
Speed correction signal (VTG)
$--VTG,X.X,T,X.X,M,X.X,N,X.X,K<CR><LF>