GPS Messages
What information is sent with each NMEA/PUBX/UBX message?
| Message | Data Types |
|---|---|
| UBX-PVT | SDTLAHSNPV |
| PUBX00 | S-TLAHSNPV |
| RMC + GGA | SDTLAHSNP- |
| RMC | SDTL-HS--- |
| GGA | S-TLA--NP- |
| GLL | S-TL------ |
| GSA | S------NP- |
| VTG | S----HS--- |
Data Types
S: Status
D: Date
T: Time
L: Lat/lon
A: Altitude
S: Speed
H: Heading
N: Number of sats
P: DOP
V: Vertical velocity
PUBX00 u-blox Proprietary Message
$PUBX,00,081350.00,4717.113210,N,00833.915187,E,546.589,G3,2.1,2.0,0.007,77.52,0.007,,0.92,1.19,0.77,9,0,0*5F
| Field No. | Example | Format | Description |
|---|---|---|---|
| 0 | $PUBX | string $PUBX | Message ID, UBX protocol header, proprietary sentence |
| 1 | 00 | numeric | Proprietary message identifier: 00 |
| 2 | 081350.00 | hhmmss.sss | UTC Time, Current time |
| 3 | 4717.113210 | ddmm.mmmm | Latitude, Degrees + minutes |
| 4 | N | character N/S | N/S Indicator, N=north or S=south |
| 5 | 00833.915187 | Longitude - Longitude, Degrees + minutes | |
| 6 | E | character E/W | E/W indicator, E=east or W=west |
| 7 | 546.589 | numeric | Altitude in meters above user datum ellipsoid |
| 8 | G3 | string | Navigation Status, see table below |
| 9 | 2.1 | numeric | Horizontal accuracy estimate in meters |
| 10 | 2.0 | numeric | Vertical accuracy estimate in meters |
| 11 | 0.007 | numeric | Speed over ground in km/h |
| 12 | 77.52 | numeric | Course over ground in degrees |
| 13 | 0.007 | numeric | Vertical downward velocity |
| 14 | - | numeric | Age of most recent DGPS corrections in seconds, empty = none available |
| 15 | 0.92 | numeric | HDOP Horizontal Dilution of Precision |
| 16 | 1.19 | numeric | VDOP Vertical Dilution of Precision |
| 17 | 0.77 | numeric | TDOP Time Dilution of Precision |
| 18 | 9 | numeric | Number of GPS satellites |
| 19 | 0 | numeric | Number of GLONASS satellites |
| 20 | 0 | numeric | DR used |
| 21 | *5F | hexadecimal | Checksum |
| 22 | - | character |
Carriage Return and Line Feed |
Navigation Status
NF No Fix
DR Dead reckoning only solution
G2 Stand alone 2D solution
G3 Stand alone 3D solution
D2 Differential 2D solution
D3 Differential 3D solution
RK Combined GPS + dead reckoning solution
TT Time only solution
Send: $PUBX,00*33<CR><LF> to poll PUBX00 message
GGA Message
$GPGGA,092725.00,4717.11399,N,00833.91590,E,1,8,1.01,499.6,M,48.0,M,,0*5B
| Field No. | Example | Format | Description |
|---|---|---|---|
| 0 | $GPGGA | string $GPGGA | Message ID, GGA protocol header |
| 1 | 092725.00 | hhmmss.sss | UTC Time, Current time |
| 2 | 4717.11399 | ddmm.mmmm | Latitude, Degrees + minutes |
| 3 | N | character N/S | N/S Indicator, N=north or S=south |
| 4 | 00833.91590 | dddmm.mmmm | Longitude - Longitude, Degrees + minutes |
| 5 | E | character E/W | E/W indicator, E=east or W=west |
| 6 | 1 | digit | Position Fix Status Indicator, See Table below |
| 7 | 8 | numeric | Satellites Used, Range 0 to 12 |
| 8 | 1.01 | numeric HDOP | HDOP, Horizontal Dilution of Precision |
| 9 | 499.6 | numeric | MSL Altitude in m |
| 10 | M | character M | MSL Altitude Unit, Meters (fixed field) |
| 11 | 48.0 | numeric | Geoid Separation in m |
| 12 | M | character M | Geoid Separation Unit, Meters (fixed field) |
| 13 | - | numeric | Age of Differential Corrections in seconds, Blank (Null) fields when DGPS is not used |
| 14 | 0 | numeric | Diff. Reference Station ID |
| 15 | *5B | hexadecimal | Checksum |
| 16 | - | character |
Carriage Return and Line Feed |
Fix Status
0 No Fix / Invalid
1 Standard GPS (2D/3D)
2 Differential GPS
6 Estimated (DR) Fix
RMC Message
$GPRMC,083559.00,A,4717.11437,N,00833.91522,E,0.004,77.52,091202,,,A*57
| Field No. | Example | Format | Description |
|---|---|---|---|
| 0 | $GPGGA | string $GPRMC | Message ID, RMC protocol header |
| 1 | 083559.00 | hhmmss.sss | UTC Time, Current time |
| 2 | A | character | Status - Status, V = Navigation receiver warning, A = Data valid |
| 3 | 4717.11437 | ddmm.mmmm | Latitude, Degrees + minutes |
| 4 | N | character N/S | N/S Indicator, N=north or S=south |
| 5 | 00833.91522 | dddmm.mmmm | Longitude - Longitude, Degrees + minutes, see Format description |
| 6 | E | character E/W | E/W indicator, E=east or W=west |
| 7 | 0.004 | numeric | Speed over ground in knots |
| 8 | 77.52 | numeric | Course over ground in degrees |
| 9 | 091202 | ddmmyy date | Date in day, month, year format |
| 10 | - | numeric | Magnetic variation value, not being output by receiver |
| 11 | - | character | Magnetic variation E/W indicator, not being outputby receiver |
| 12 | - | character | Mode Indicator, see Position Fix Flags description |
| 13 | *57 | hexadecimal | Checksum |
| 14 | - | character |
Carriage Return and Line Feed |