Documentation ¶
Index ¶
- Constants
- func Checksum(s string) string
- func FormatDMS(l float64) string
- func FormatGPS(l float64) string
- func LatDir(l float64) string
- func LonDir(l float64) string
- func MustRegisterParser(sentenceType string, parser ParserFunc)
- func ParseDMS(s string) (float64, error)
- func ParseDecimal(s string) (float64, error)
- func ParseGPS(s string) (float64, error)
- func ParseLatLong(s string) (float64, error)
- func RegisterParser(sentenceType string, parser ParserFunc) error
- type AAM
- type ALA
- type APB
- type BEC
- type BOD
- type BWC
- type BWR
- type BWW
- type BaseSentence
- type DBK
- type DBS
- type DBT
- type DOR
- type DPT
- type DSC
- type DSE
- type DSEDataSet
- type Date
- type EVE
- type FIR
- type GGA
- type GLGSVdeprecated
- type GLGSVInfodeprecated
- type GLL
- type GNGGAdeprecated
- type GNGNSdeprecated
- type GNRMCdeprecated
- type GNS
- type GPGGAdeprecated
- type GPGLLdeprecated
- type GPGSAdeprecated
- type GPGSVdeprecated
- type GPGSVInfodeprecated
- type GPHDTdeprecated
- type GPRMCdeprecated
- type GPVTGdeprecated
- type GPZDAdeprecated
- type GSA
- type GSV
- type GSVInfo
- type HDG
- type HDM
- type HDT
- type HSC
- type MDA
- type MTA
- type MTK
- type MTW
- type MWD
- type MWV
- type NotSupportedError
- type PGRME
- type PHTRO
- type PRDID
- type PSONCMS
- type Parser
- func (p *Parser) AssertType(typ string)
- func (p *Parser) Date(i int, context string) Date
- func (p *Parser) EnumChars(i int, context string, options ...string) []string
- func (p *Parser) EnumString(i int, context string, options ...string) string
- func (p *Parser) Err() error
- func (p *Parser) Float64(i int, context string) float64
- func (p *Parser) Int64(i int, context string) int64
- func (p *Parser) LatLong(i, j int, context string) float64
- func (p *Parser) ListString(from int, context string) (list []string)
- func (p *Parser) SetErr(context, value string)
- func (p *Parser) SixBitASCIIArmour(i int, fillBits int, context string) []byte
- func (p *Parser) String(i int, context string) string
- func (p *Parser) Time(i int, context string) Time
- type ParserFunc
- type RMB
- type RMC
- type ROT
- type RPM
- type RSA
- type RTE
- type Sentence
- type THS
- type TXT
- type TagBlock
- type Time
- type VDMVDO
- type VDR
- type VHW
- type VLW
- type VPW
- type VTG
- type VWR
- type VWT
- type WPL
- type XDR
- type XDRMeasurement
- type XTE
- type ZDA
Constants ¶
const ( // TypeAPB type of APB sentence for Autopilot Sentence "B" TypeAPB = "APB" // StatusWarningASetAPB indicates LORAN-C Blink or SNR warning StatusWarningASetAPB = "V" // StatusWarningAClearORNotUsedAPB general warning flag or other navigation systems when a reliable fix is not available StatusWarningAClearORNotUsedAPB = "A" // StatusWarningBSetAPB means Loran-C Cycle Lock warning OK or not used StatusWarningBSetAPB = "A" // StatusWarningBClearAPB means Loran-C Cycle Lock warning flag StatusWarningBClearAPB = "V" )
const ( // WPStatusPerpendicularPassedA is warning for passing the perpendicular of the course line of waypoint WPStatusPerpendicularPassedA = "A" // WPStatusPerpendicularPassedV indicates for not passing of the perpendicular of the course line of waypoint WPStatusPerpendicularPassedV = "V" // WPStatusArrivalCircleEnteredA is warning of entering to waypoint circle WPStatusArrivalCircleEnteredA = "A" // WPStatusArrivalCircleEnteredV indicates of not yet entered into waypoint circle WPStatusArrivalCircleEnteredV = "V" )
Autopilot related constants (used in APB, APA, AAM)
const ( // PrefixGNGNS prefix // // Deprecated: Use TypeGNS instead PrefixGNGNS = "GNGNS" // PrefixGPGGA prefix // // Deprecated: Use TypeGGA instead PrefixGPGGA = "GPGGA" // PrefixGPGLL prefix for GPGLL sentence type // // Deprecated: Use TypeGLL instead PrefixGPGLL = "GPGLL" // PrefixGPGSA prefix of GPGSA sentence type // // Deprecated: Use TypeGSA instead PrefixGPGSA = "GPGSA" // PrefixGPRMC prefix of GPRMC sentence type // // Deprecated: Use TypeRMC instead PrefixGPRMC = "GPRMC" // PrefixPGRME prefix for PGRME sentence type // // Deprecated: Use TypePGRME instead PrefixPGRME = "PGRME" // PrefixGLGSV prefix // // Deprecated: Use TypeGSV instead PrefixGLGSV = "GLGSV" // PrefixGNGGA prefix // // Deprecated: Use TypeGGA instead PrefixGNGGA = "GNGGA" // PrefixGNRMC prefix of GNRMC sentence type // // Deprecated: Use TypeRMC instead PrefixGNRMC = "GNRMC" // PrefixGPGSV prefix // // Deprecated: Use TypeGSV instead PrefixGPGSV = "GPGSV" // PrefixGPHDT prefix of GPHDT sentence type // // Deprecated: Use TypeHDT instead PrefixGPHDT = "GPHDT" // PrefixGPVTG prefix // // Deprecated: Use TypeVTG instead PrefixGPVTG = "GPVTG" // PrefixGPZDA prefix // // Deprecated: Use TypeZDA instead PrefixGPZDA = "GPZDA" )
const ( // TypeDOR type of DOR sentence for Door Status Detection TypeDOR = "DOR" // TypeSingleDoorDOR is type for single door related event TypeSingleDoorDOR = "E" // TypeFaultDOR is type for fault with door TypeFaultDOR = "F" // TypeSectionDOR is type for section of doors related event TypeSectionDOR = "S" // DoorStatusOpenDOR is status for open door DoorStatusOpenDOR = "O" // DoorStatusClosedDOR is status for closed door DoorStatusClosedDOR = "C" // DoorStatusFaultDOR is status for fault with door DoorStatusFaultDOR = "X" // SwitchSettingHarbourModeDOR is setting for Harbour mode (allowed open) SwitchSettingHarbourModeDOR = "O" // SwitchSettingSeaModeDOR is setting for Sea mode (ordered closed) SwitchSettingSeaModeDOR = "C" )
const ( // TypeDSC type of DSC sentence for Digital Selective Calling Information TypeDSC = "DSC" // AcknowledgementRequestDSC is type for Acknowledge request AcknowledgementRequestDSC = "R" // AcknowledgementDSC is type for Acknowledgement AcknowledgementDSC = "B" // AcknowledgementNeitherDSC is type for Neither (end of sequence) AcknowledgementNeitherDSC = "S" )
const ( // TypeDSE type of DSE sentence for Expanded digital selective calling TypeDSE = "DSE" // AcknowledgementAutomaticDSE is type for automatic AcknowledgementAutomaticDSE = "A" // AcknowledgementRequestDSE is type for request AcknowledgementRequestDSE = "R" // AcknowledgementQueryDSE is type for query AcknowledgementQueryDSE = "Q" )
const ( // TypeFIR type of FIR sentence for Fire Detection TypeFIR = "FIR" // TypeEventOrAlarmFIR is Event, Fire Alarm type TypeEventOrAlarmFIR = "E" // TypeFaultFIR is type for Fault TypeFaultFIR = "F" // TypeDisablementFIR is type for detector disablement TypeDisablementFIR = "D" // ConditionActivationFIR is activation condition ConditionActivationFIR = "A" // ConditionNonActivationFIR is non-activation condition ConditionNonActivationFIR = "V" // ConditionUnknownFIR is unknown condition ConditionUnknownFIR = "X" // AlarmStateAcknowledgedFIR is value for alarm acknowledgement AlarmStateAcknowledgedFIR = "A" // AlarmStateNotAcknowledgedFIR is value for alarm being not acknowledged AlarmStateNotAcknowledgedFIR = "V" )
const ( // TypeGGA type for GGA sentences TypeGGA = "GGA" // Invalid fix quality. Invalid = "0" // GPS fix quality GPS = "1" // DGPS fix quality DGPS = "2" // PPS fix PPS = "3" // RTK real time kinematic fix RTK = "4" // FRTK float RTK fix FRTK = "5" // EST estimated fix. EST = "6" )
const ( // TypeGLL type for GLL sentences TypeGLL = "GLL" // ValidGLL character ValidGLL = "A" // InvalidGLL character InvalidGLL = "V" )
const ( // NoFixGNS Character NoFixGNS = "N" // AutonomousGNS Character AutonomousGNS = "A" // DifferentialGNS Character DifferentialGNS = "D" // PreciseGNS Character PreciseGNS = "P" // RealTimeKinematicGNS Character RealTimeKinematicGNS = "R" // FloatRTKGNS RealTime Kinematic Character FloatRTKGNS = "F" // EstimatedGNS Fix Character EstimatedGNS = "E" // ManualGNS Fix Character ManualGNS = "M" // SimulatorGNS Character SimulatorGNS = "S" )
GNS mode values. These are same values ans GLL/RMC FAAMode* values. Note: there can be other values (proprietary).
const ( // TypeGSA type for GSA sentences TypeGSA = "GSA" // Auto - Field 1, auto or manual fix. Auto = "A" // Manual - Field 1, auto or manual fix. Manual = "M" // FixNone - Field 2, fix type. FixNone = "1" // Fix2D - Field 2, fix type. Fix2D = "2" // Fix3D - Field 2, fix type. Fix3D = "3" )
const ( // TypeHDM type of HDM sentence for vessel heading in degrees with respect to magnetic north TypeHDM = "HDM" // MagneticHDM for valid Magnetic heading MagneticHDM = "M" )
const ( // TypeMDA type for MDA sentences TypeMDA = "MDA" // InchMDA for valid pressure in Inches of mercury InchMDA = "I" // BarsMDA for valid pressure in Bars BarsMDA = "B" // DegreesCMDA for valid data in degrees C DegreesCMDA = "C" // TrueMDA for valid data in True direction TrueMDA = "T" // MagneticMDA for valid data in Magnetic direction MagneticMDA = "M" // KnotsMDA for valid data in Knots KnotsMDA = "N" // MetersSecondMDA for valid data in Meters per Second MetersSecondMDA = "M" )
const ( // TypeMTW type of MWT sentence describing mean temperature of water TypeMTW = "MTW" // CelsiusMTW is MTW unit of measurement in celsius CelsiusMTW = "C" )
const ( // TypeMWD type for MWD sentences TypeMWD = "MWD" // TrueMWD for valid True Direction TrueMWD = "T" // MagneticMWD for valid Magnetic direction MagneticMWD = "M" // KnotsMWD for valid Knots KnotsMWD = "N" // MetersSecondMWD for valid Meters per Second MetersSecondMWD = "M" )
const ( // TypeMWV type for MWV sentences TypeMWV = "MWV" // RelativeMWV for Valid Relative angle data RelativeMWV = "R" // TheoreticalMWV for valid Theoretical angle data TheoreticalMWV = "T" // UnitKMHMWV unit for Kilometer per hour (KM/H) UnitKMHMWV = "K" // KM/H // UnitMSMWV unit for Meters per second (M/S) UnitMSMWV = "M" // M/S // UnitKnotsMWV unit for knots UnitKnotsMWV = "N" // knots // UnitSMilesHMWV unit for Miles per hour (M/H) UnitSMilesHMWV = "S" // ValidMWV data is valid ValidMWV = "A" // InvalidMWV data is invalid InvalidMWV = "V" )
const ( // TypePGRME type for PGRME sentences TypePGRME = "GRME" // ErrorUnit must be meters (M) ErrorUnit = "M" )
const ( // TypePHTRO type of PHTRO sentence for vessel pitch and roll TypePHTRO = "HTRO" // PHTROBowUP for bow up PHTROBowUP = "M" // PHTROBowDown for bow down PHTROBowDown = "P" // PHTROPortUP for port up PHTROPortUP = "T" // PHTROPortDown for port down PHTROPortDown = "B" )
const ( // TypeRMB type of RMB sentence for recommended minimum navigation information TypeRMB = "RMB" // DataStatusWarningClearRMB means data is OK DataStatusWarningClearRMB = "A" // DataStatusWarningSetRMB means warning flag set DataStatusWarningSetRMB = "V" )
const ( // TypeRMC type for RMC sentences TypeRMC = "RMC" // ValidRMC character ValidRMC = "A" // InvalidRMC character InvalidRMC = "V" )
const ( // TypeROT type of ROT sentence for vessel rate of turn TypeROT = "ROT" // ValidROT data is valid ValidROT = "A" // InvalidROT data is invalid InvalidROT = "V" )
const ( // TypeRPM type of RPM sentence for Engine or Shaft revolutions and pitch TypeRPM = "RPM" // SourceEngineRPM is value for case when source is Engine SourceEngineRPM = "E" // SourceShaftRPM is value for case when source is Shaft SourceShaftRPM = "S" )
const ( // TypeRTE type for RTE sentences TypeRTE = "RTE" // ActiveRoute active route ActiveRoute = "c" // WaypointList list containing waypoints WaypointList = "w" )
const ( // SentenceStart is the token to indicate the start of a sentence. SentenceStart = "$" // SentenceStartEncapsulated is the token to indicate the start of encapsulated data. SentenceStartEncapsulated = "!" // FieldSep is the token to delimit fields of a sentence. FieldSep = "," // ChecksumSep is the token to delimit the checksum of a sentence. ChecksumSep = "*" )
const ( // TypeTHS type for THS sentences TypeTHS = "THS" // AutonomousTHS autonomous ths heading AutonomousTHS = "A" // EstimatedTHS estimated (dead reckoning) THS heading EstimatedTHS = "E" // ManualTHS manual input THS heading ManualTHS = "M" // SimulatorTHS simulated THS heading SimulatorTHS = "S" // InvalidTHS not valid THS heading (or standby) InvalidTHS = "V" )
const ( // StatusValid indicated status having valid value StatusValid = "A" // StatusInvalid indicated status having invalid value StatusInvalid = "V" )
const ( // UnitAmpere is unit for current in Amperes UnitAmpere = "A" // UnitBars is unit for pressure in Bars UnitBars = "B" // UnitBinary is unit for binary data UnitBinary = "B" // UnitCelsius is unit for temperature in Celsius UnitCelsius = TemperatureCelsius // UnitFahrenheit is unit for temperature in Fahrenheit UnitFahrenheit = TemperatureFahrenheit // UnitDegrees is unit for angular displacement in Degrees UnitDegrees = "D" // UnitHertz is unit for frequency in Hertz UnitHertz = "H" // UnitLitresPerSecond is unit for volumetric flow in Litres per second UnitLitresPerSecond = "I" // UnitKelvin is unit of temperature in Kelvin UnitKelvin = TemperatureKelvin // UnitKilogramPerCubicMetre is unit of density in kilogram per cubic metre UnitKilogramPerCubicMetre = "K" // UnitMeters is unit of distance in Meters UnitMeters = DistanceUnitMetre // UnitCubicMeters is unit of volume in cubic meters UnitCubicMeters = "M" // UnitRevolutionsPerMinute is unit of rotational speed or the frequency of rotation around a fixed axis in revolutions per minute (RPM) UnitRevolutionsPerMinute = "R" // UnitPercent is percent of full range UnitPercent = "P" // UnitPascal is unit of pressure in Pascals UnitPascal = "P" // UnitPartsPerThousand is in parts-per notation set of pseudo-unit to describe small values of miscellaneous dimensionless quantities, e.g. mole fraction or mass fraction. UnitPartsPerThousand = "S" // UnitVolts is unit of voltage in Volts UnitVolts = "V" )
const ( // SpeedKnots is a unit of speed equal to one nautical mile per hour, exactly 1.852 km/h (approximately 1.151 mph or 0.514 m/s) SpeedKnots = "N" // SpeedMeterPerSecond is unit of speed of 1 meter per second SpeedMeterPerSecond = "M" // SpeedKilometerPerHour is unit of speed of 1 kilometer per hour SpeedKilometerPerHour = "K" )
const ( // TemperatureCelsius is unit of temperature measured in celsius. °C = (°F − 32) / 1,8 TemperatureCelsius = "C" // TemperatureFahrenheit is unit of temperature measured in fahrenheits. °F = °C * 1,8 + 32 TemperatureFahrenheit = "F" // TemperatureKelvin is unit of temperature measured in kelvins. K = °C + 273,15 TemperatureKelvin = "K" )
const ( // HeadingMagnetic - Magnetic heading is your direction relative to magnetic north, read from your magnetic compass. // Magnetic north is the point on the Earth's surface where its magnetic field points directly downwards. HeadingMagnetic = "M" // HeadingTrue - True heading is your direction relative to true north, or the geographic north pole. // True north is the northern axis of rotation of the Earth. It is the point where the lines of longitude converge // on maps. HeadingTrue = "T" )
In navigation, the heading of a vessel or object is the compass direction in which the craft's bow or nose is pointed. Note that the heading may not necessarily be the direction that the vehicle actually travels, which is known as its course or track. https://en.wikipedia.org/wiki/Heading_(navigation)
const ( // BearingMagnetic is the clockwise angle between Earth's magnetic north and an object observed from the vessel. BearingMagnetic = "M" // BearingTrue is the clockwise angle between Earth's true (geographical) north and an object observed from the vessel. BearingTrue = "T" )
In nautical navigation the absolute bearing is the clockwise angle between north and an object observed from the vessel. https://en.wikipedia.org/wiki/Bearing_(angle)
const ( // FAAModeAutonomous is Autonomous mode FAAModeAutonomous = "A" // FAAModeDifferential is Differential Mode FAAModeDifferential = "D" // FAAModeEstimated is Estimated (dead-reckoning) mode FAAModeEstimated = "E" // FAAModeRTKFloat is RTK Float mode FAAModeRTKFloat = "F" // FAAModeManualInput is Manual Input Mode FAAModeManualInput = "M" // FAAModeDataNotValid is Data Not Valid FAAModeDataNotValid = "N" // FAAModePrecise is Precise (NMEA4.00+) FAAModePrecise = "P" // FAAModeRTKInteger is RTK Integer mode FAAModeRTKInteger = "R" // FAAModeSimulated is Simulated Mode FAAModeSimulated = "S" )
FAAMode is type for FAA mode indicator (NMEA 2.3 and later). In NMEA 2.3, several sentences (APB, BWC, BWR, GLL, RMA, RMB, RMC, VTG, WCV, and XTE) got a new last field carrying the signal integrity information needed by the FAA. Source: https://www.xj3.nl/dokuwiki/doku.php?id=nmea Note: there can be other values (proprietary).
const (NavStatusAutonomous = "A" NavStatusDifferential = "D" NavStatusEstimated = "E" NavStatusManualInput = "M" NavStatusSimulated = "S" NavStatusDataNotValid = "N" NavStatusDataValid = "V" )
Navigation Status (NMEA 4.1 and later)
const ( // DistanceUnitKilometre is unit for distance in kilometres (1km = 1000m) DistanceUnitKilometre = "K" // DistanceUnitNauticalMile is unit for distance in nautical miles (1nmi = 1852m) DistanceUnitNauticalMile = "N" // DistanceUnitStatuteMile is unit for distance in statute miles (1smi = 5,280 feet = 1609.344m) DistanceUnitStatuteMile = "S" // DistanceUnitMetre is unit for distance in metres DistanceUnitMetre = "M" // DistanceUnitFeet is unit for distance in feets (1f = 0.3048m) DistanceUnitFeet = "f" // DistanceUnitFathom is unit for distance in fathoms (1fm = 6ft = 1,8288m) DistanceUnitFathom = "F" )
const ( // Degrees value Degrees = '\u00B0' // Minutes value Minutes = '\'' // Seconds value Seconds = '"' // Point value Point = '.' // North value North = "N" // South value South = "S" // East value East = "E" // West value West = "W" // Left value Left = "L" // Right value Right = "R" )
const ( // TypeVDM type for VDM sentences TypeVDM = "VDM" // TypeVDO type for VDO sentences TypeVDO = "VDO" )
const ( // TransducerAngularDisplacementXDR is transducer type for Angular displacement TransducerAngularDisplacementXDR = "A" // TransducerTemperatureXDR is transducer type for Temperature TransducerTemperatureXDR = "C" // TransducerDepthXDR is transducer type for Depth TransducerDepthXDR = "D" // TransducerFrequencyXDR is transducer type for Frequency TransducerFrequencyXDR = "F" // TransducerHumidityXDR is transducer type for Humidity TransducerHumidityXDR = "H" // TransducerForceXDR is transducer type for Force TransducerForceXDR = "N" // TransducerPressureXDR is transducer type for Pressure TransducerPressureXDR = "P" // TransducerFlowXDR is transducer type for Flow TransducerFlowXDR = "R" // TransducerAbsoluteHumidityXDR is transducer type for Absolute humidity TransducerAbsoluteHumidityXDR = "B" // TransducerGenericXDR is transducer type for Generic TransducerGenericXDR = "G" // TransducerCurrentXDR is transducer type for Current TransducerCurrentXDR = "I" // TransducerSalinityXDR is transducer type for Salinity TransducerSalinityXDR = "L" // TransducerSwitchValveXDR is transducer type for Switch, valve TransducerSwitchValveXDR = "S" // TransducerTachometerXDR is transducer type for Tachometer TransducerTachometerXDR = "T" // TransducerVoltageXDR is transducer type for Voltage TransducerVoltageXDR = "U" // TransducerVolumeXDR is transducer type for Volume TransducerVolumeXDR = "V" )
const (
// TypeAAM type of AAM sentence for Waypoint Arrival Alarm
TypeAAM = "AAM"
)
const (
// TypeALA type of ALA sentence for System Faults and alarms
TypeALA = "ALA"
)
const (
// TypeBEC type of BEC sentence for bearing and distance to waypoint (dead reckoning)
TypeBEC = "BEC"
)
const (
// TypeBOD type of BOD sentence for bearing waypoint to waypoint
TypeBOD = "BOD"
)
const (
// TypeBWC type of BWC sentence for bearing and distance to waypoint, great circle
TypeBWC = "BWC"
)
const (
// TypeBWR type of BWR sentence for bearing and distance to waypoint (Rhumb Line)
TypeBWR = "BWR"
)
const (
// TypeBWW type of BWW sentence for bearing (from destination) destination waypoint to origin waypoint
TypeBWW = "BWW"
)
const (
// TypeDBK type of DBK sentence for Depth Below Keel
TypeDBK = "DBK"
)
const (
// TypeDBS is type of DBS sentence for Depth Below Surface
TypeDBS = "DBS"
)
const (
// TypeDBT type for DBT sentences
TypeDBT = "DBT"
)
const (
// TypeDPT type for DPT sentences
TypeDPT = "DPT"
)
const (
// TypeEVE type of EVE sentence for General Event Message
TypeEVE = "EVE"
)
const (
// TypeGNS type for GNS sentences
TypeGNS = "GNS"
)
const (
// TypeGSV type of GSV sentences for satellites in view
TypeGSV = "GSV"
)
const (
// TypeHDG type of HDG sentence for vessel heading, deviation and variation with respect to magnetic north.
TypeHDG = "HDG"
)
const (
// TypeHDT type for HDT sentences
TypeHDT = "HDT"
)
const (
// TypeHSC type of HSC sentence for Heading steering command
TypeHSC = "HSC"
)
const (
// TypeMTA type of MTA sentence for Air Temperature
TypeMTA = "MTA"
)
const (
// TypeMTK type for PMTK sentences
TypeMTK = "PMTK"
)
const (
// TypePRDID type of PRDID sentence for vessel pitch, roll and heading
TypePRDID = "RDID"
)
const (
// TypePSONCMS is type of PSONCMS sentence for proprietary Xsens IMU/VRU/AHRS device
TypePSONCMS = "SONCMS"
)
const (
// TypeRSA type of RSA sentence for Rudder Sensor Angle
TypeRSA = "RSA"
)
const (
// TypeTXT type for TXT sentences for the transmission of text messages
TypeTXT = "TXT"
)
const (
// TypeVDR type of VDR sentence for Set and Drift
TypeVDR = "VDR"
)
const (
// TypeVHW type for VHW sentences
TypeVHW = "VHW"
)
const (
// TypeVLW type of VLW sentence for Distance Traveled through Water
TypeVLW = "VLW"
)
const (
// TypeVPW type of VPW sentence for Speed Measured Parallel to Wind
TypeVPW = "VPW"
)
const (
// TypeVTG type for VTG sentences
TypeVTG = "VTG"
)
const (
// TypeVWR type of VWR sentence for Relative Wind Speed and Angle
TypeVWR = "VWR"
)
const (
// TypeVWT type of VWT sentence for True Wind Speed and Angle
TypeVWT = "VWT"
)
const (
// TypeWPL type for WPL sentences
TypeWPL = "WPL"
)
const (
// TypeXDR type of XDR sentence for Transducer Measurement
TypeXDR = "XDR"
)
const (
// TypeXTE type of XTE sentence for Cross-track error, measured
TypeXTE = "XTE"
)
const (
// TypeZDA type for ZDA sentences
TypeZDA = "ZDA"
)
Variables ¶
This section is empty.
Functions ¶
func Checksum ¶ added in v1.2.0
Checksum xor all the bytes in a string an return it as an uppercase hex string
func MustRegisterParser ¶ added in v1.2.0
func MustRegisterParser(sentenceType string, parser ParserFunc)
MustRegisterParser register a custom parser or panic
func ParseDecimal ¶
ParseDecimal parses a decimal format coordinate. e.g: 151.196019
func ParseLatLong ¶
ParseLatLong parses the supplied string into the LatLong.
Supported formats are: - DMS (e.g. 33° 23' 22") - Decimal (e.g. 33.23454) - GPS (e.g 15113.4322S)
func RegisterParser ¶ added in v1.2.0
func RegisterParser(sentenceType string, parser ParserFunc) error
RegisterParser register a custom parser
Types ¶
type AAM ¶ added in v1.6.0
type AAM struct { BaseSentence // StatusArrivalCircleEntered is warning of arrival to waypoint circle // * A = Arrival Circle Entered // * V = not entered StatusArrivalCircleEntered string // StatusPerpendicularPassed is warning for perpendicular passing of waypoint // * A = Perpendicular passed at waypoint // * V = not passed StatusPerpendicularPassed string // ArrivalCircleRadius is radius for arrival circle ArrivalCircleRadius float64 // ArrivalCircleRadiusUnit is unit for arrival circle radius ArrivalCircleRadiusUnit string // DestinationWaypointID is destination waypoint ID DestinationWaypointID string }
AAM - Waypoint Arrival Alarm This sentence is generated by some units to indicate the status of arrival (entering the arrival circle, or passing the perpendicular of the course line) at the destination waypoint (source: GPSD). https://gpsd.gitlab.io/gpsd/NMEA.html#_aam_waypoint_arrival_alarm
Format: $--AAM,A,A,x.x,N,c--c*hh<CR><LF> Example: $GPAAM,A,A,0.10,N,WPTNME*43
type ALA ¶ added in v1.6.0
type ALA struct { BaseSentence // Time is Event Time Time Time // SystemIndicator is system indicator of original alarm source. Detector system type with 2 char identifier. // Values not known // https://www.nmea.org/Assets/20190303%20nmea%200183%20talker%20identifier%20mnemonics.pdf SystemIndicator string // SubSystemIndicator is sub system equipment indicator of original alarm source SubSystemIndicator string // InstanceNumber is instance number of equipment/unit/item (00-99) InstanceNumber int64 // Type is alarm type (000-999) Type int64 // Condition describes the condition triggering current message // * N – Normal state (OK) // * H - Alarm state (fault); // could be more Condition string // AlarmAckState is Alarm's acknowledge state // * A – Acknowledged // * H - Harbour mode // * V – Not acknowledged // * O - Override // could be more AlarmAckState string // Message's description text (could be cut to fit max packet length) Message string }
ALA - System Faults and alarms Source: "Interfacing Voyage Data Recorder Systems, AutroSafe Interactive Fire-Alarm System, 116-P-BSL336/EE, RevA 2007-01-25, Autronica Fire and Security AS " (page 31 | p.8.1.3) https://product.autronicafire.com/fileshare/fileupload/14251/bsl336_ee.pdf
Format: $FRALA,hhmmss,aa,aa,xx,xxx,a,a,c-cc*hh<CR><LF> Example: $FRALA,143955,FR,OT,00,901,N,V,Syst Fault : AutroSafe comm. OK*4F
type APB ¶ added in v1.6.0
type APB struct { BaseSentence // StatusGeneralWarning is used for warnings // * V = LORAN-C Blink or SNR warning // * A = general warning flag or other navigation systems when a reliable fix is not available StatusGeneralWarning string // StatusLockWarning is used for lock warning // * V = Loran-C Cycle Lock warning flag // * A = OK or not used StatusLockWarning string // CrossTrackErrorMagnitude is Cross Track Error Magnitude CrossTrackErrorMagnitude float64 // DirectionToSteer is Direction to steer, // * L = left // * R = right DirectionToSteer string // CrossTrackUnits is cross track units // * N = nautical miles // * K = for kilometers CrossTrackUnits string // StatusArrivalCircleEntered is warning of arrival to waypoint circle // * A = Arrival Circle Entered // * V = not entered StatusArrivalCircleEntered string // StatusPerpendicularPassed is warning for perpendicular passing of waypoint // * A = Perpendicular passed at waypoint // * V = not passed StatusPerpendicularPassed string // BearingOriginToDest is Bearing origin to destination BearingOriginToDest float64 // BearingOriginToDestType is Bearing origin to dest type // * M = Magnetic // * T = True BearingOriginToDestType string // DestinationWaypointID is Destination waypoint ID DestinationWaypointID string // BearingPresentToDest is Bearing, present position to Destination BearingPresentToDest float64 // BearingPresentToDestType is Bearing present to dest type // * M = Magnetic // * T = True BearingPresentToDestType string // Heading is heading to steer to destination waypoint Heading float64 // HeadingType is Heading type // * M = Magnetic // * T = True HeadingType string // FAA mode indicator (filled in NMEA 2.3 and later) FFAMode string }
APB - Autopilot Sentence "B" for heading/tracking https://gpsd.gitlab.io/gpsd/NMEA.html#_apb_autopilot_sentence_b https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf (page 5)
Format: $--APB,A,A,x.x,a,N,A,A,x.x,a,c--c,x.x,a,x.x,a*hh<CR><LF> Format NMEA 2.3+: $--APB,A,A,x.x,a,N,A,A,x.x,a,c--c,x.x,a,x.x,a,a*hh<CR><LF> Example: $GPAPB,A,A,0.10,R,N,V,V,011,M,DEST,011,M,011,M*82
$ECAPB,A,A,0.0,L,M,V,V,175.2,T,Antechamber_Bay,175.2,T,175.2,T*48
type BEC ¶ added in v1.6.0
type BEC struct { BaseSentence Time Time // UTC Time Latitude float64 // latitude of waypoint Longitude float64 // longitude of waypoint BearingTrue float64 // true bearing in degrees BearingTrueValid bool // is unit of true bearing valid BearingMagnetic float64 // magnetic bearing in degrees BearingMagneticValid bool // is unit of magnetic bearing valid DistanceNauticalMiles float64 // distance to waypoint in nautical miles DistanceNauticalMilesValid bool // is unit of distance to waypoint nautical miles valid DestinationWaypointID string // destination waypoint ID }
BEC - bearing and distance to waypoint (dead reckoning) http://www.nmea.de/nmea0183datensaetze.html#bec https://www.eye4software.com/hydromagic/documentation/nmea0183/
Format: $--BEC,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x.x,T,x.x,M,x.x,N,c--c*hh<CR><LF> Example: $GPBEC,220516,5130.02,N,00046.34,W,213.8,T,218.0,M,0004.6,N,EGLM*33
type BOD ¶ added in v1.6.0
type BOD struct { BaseSentence BearingTrue float64 // true bearing in degrees BearingTrueType string // is type of true bearing BearingMagnetic float64 // magnetic bearing in degrees BearingMagneticType string // is type of magnetic bearing DestinationWaypointID string // destination waypoint ID OriginWaypointID string // origin waypoint ID }
BOD - bearing waypoint to waypoint (origin to destination). Replaced by BWW in NMEA4+ (according to GPSD docs) If your system supports RMB it is better to use RMB as it is more common (according to OpenCPN docs) https://gpsd.gitlab.io/gpsd/NMEA.html#_bod_bearing_waypoint_to_waypoint
Format: $--BOD,x.x,T,x.x,M,c--c,c--c*hh<CR><LF> Example: $GPBOD,099.3,T,105.6,M,POINTB*64
$GPBOD,097.0,T,103.2,M,POINTB,POINTA*4A
type BWC ¶ added in v1.6.0
type BWC struct { BaseSentence Time Time // UTC Time Latitude float64 // latitude of waypoint Longitude float64 // longitude of waypoint BearingTrue float64 // true bearing in degrees BearingTrueType string // is type of true bearing BearingMagnetic float64 // magnetic bearing in degrees BearingMagneticType string // is type of magnetic bearing DistanceNauticalMiles float64 // distance to waypoint in nautical miles DistanceNauticalMilesUnit string // is unit of distance to waypoint nautical miles DestinationWaypointID string // destination waypoint ID FFAMode string // FAA mode indicator (filled in NMEA 2.3 and later) }
BWC - bearing and distance to waypoint, great circle https://gpsd.gitlab.io/gpsd/NMEA.html#_bwc_bearing_distance_to_waypoint_great_circle http://aprs.gids.nl/nmea/#bwc
Format: $--BWC,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x.x,T,x.x,M,x.x,N,c--c*hh<CR><LF> Format (NMEA 2.3+): $--BWC,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x.x,T,x.x,M,x.x,N,c--c,m*hh<CR><LF> Example: $GPBWC,081837,,,,,,T,,M,,N,*13
$GPBWC,220516,5130.02,N,00046.34,W,213.8,T,218.0,M,0004.6,N,EGLM*21
type BWR ¶ added in v1.6.0
type BWR struct { BaseSentence Time Time // UTC Time Latitude float64 // latitude of waypoint Longitude float64 // longitude of waypoint BearingTrue float64 // true bearing in degrees BearingTrueType string // is type of true bearing BearingMagnetic float64 // magnetic bearing in degrees BearingMagneticType string // is type of magnetic bearing DistanceNauticalMiles float64 // distance to waypoint in nautical miles DistanceNauticalMilesUnit string // is unit of distance to waypoint nautical miles DestinationWaypointID string // destination waypoint ID FFAMode string // FAA mode indicator (filled in NMEA 2.3 and later) }
BWR - bearing and distance to waypoint (Rhumb Line). This is calculated along rumb line instead of along the great circle. https://gpsd.gitlab.io/gpsd/NMEA.html#_bwr_bearing_and_distance_to_waypoint_rhumb_line
Format: $--BWR,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x.x,T,x.x,M,x.x,N,c--c*hh<CR><LF> Format (NMEA 2.3+): $--BWR,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x.x,T,x.x,M,x.x,N,c--c,m*hh<CR><LF> Example: $GPBWR,081837,,,,,,T,,M,,N,*02
$GPBWR,220516,5130.02,N,00046.34,W,213.8,T,218.0,M,0004.6,N,EGLM*30
type BWW ¶ added in v1.6.0
type BWW struct { BaseSentence BearingTrue float64 // true bearing in degrees BearingTrueType string // is type of true bearing BearingMagnetic float64 // magnetic bearing in degrees BearingMagneticType string // is type of magnetic bearing DestinationWaypointID string // destination waypoint ID OriginWaypointID string // origin waypoint ID }
BWW - bearing (from destination) destination waypoint to origin waypoint Replaces by BOD in NMEA4+ (according to GPSD docs) If your system supports RMB it is better to use RMB as it is more common (according to OpenCPN docs) https://gpsd.gitlab.io/gpsd/NMEA.html#_bww_bearing_waypoint_to_waypoint http://www.nmea.de/nmea0183datensaetze.html#bww
Format: $--BWW,x.x,T,x.x,M,c--c,c--c*hh<CR><LF> Example: $GPBWW,097.0,T,103.2,M,POINTB,POINTA*41
type BaseSentence ¶
type BaseSentence struct { Talker string // The talker id (e.g GP) Type string // The data type (e.g GSA) Fields []string // Array of fields Checksum string // The Checksum Raw string // The raw NMEA sentence received TagBlock TagBlock // NMEA tagblock }
BaseSentence contains the information about the NMEA sentence
func (BaseSentence) DataType ¶ added in v1.2.0
func (s BaseSentence) DataType() string
DataType returns the type of the message
func (BaseSentence) Prefix ¶
func (s BaseSentence) Prefix() string
Prefix returns the talker and type of message
func (BaseSentence) String ¶
func (s BaseSentence) String() string
String formats the sentence into a string
func (BaseSentence) TalkerID ¶ added in v1.2.0
func (s BaseSentence) TalkerID() string
TalkerID returns the talker of the message
type DBK ¶ added in v1.6.0
type DBK struct { BaseSentence DepthFeet float64 // Depth, feet DepthFeetUnit string // f = feet DepthMeters float64 // Depth, meters DepthMetersUnit string // M = meters DepthFathoms float64 // Depth, Fathoms DepthFathomsUnit string // F = Fathoms }
DBK - Depth Below Keel (obsolete, use DPT instead) https://gpsd.gitlab.io/gpsd/NMEA.html#_dbk_depth_below_keel https://wiki.openseamap.org/wiki/OpenSeaMap-dev:NMEA#DBK_-_Depth_below_keel
Format: $--DBK,x.x,f,x.x,M,x.x,F*hh<CR><LF> Example: $SDDBK,12.3,f,3.7,M,2.0,F*2F
type DBS ¶ added in v1.2.0
type DBS struct { BaseSentence DepthFeet float64 // Depth, feet DepthFeetUnit string // f = feet DepthMeters float64 // Depth, meters DepthMeterUnit string // M = meters DepthFathoms float64 // Depth, Fathoms DepthFathomUnit string // F = Fathoms }
DBS - Depth Below Surface (obsolete, use DPT instead) https://gpsd.gitlab.io/gpsd/NMEA.html#_dbs_depth_below_surface https://wiki.openseamap.org/wiki/OpenSeaMap-dev:NMEA#DBS_-_Depth_below_surface
Format: $--DBS,x.x,f,x.x,M,x.x,F*hh<CR><LF> Example: $23DBS,01.9,f,0.58,M,00.3,F*21
type DBT ¶ added in v1.2.0
type DBT struct { BaseSentence DepthFeet float64 DepthMeters float64 DepthFathoms float64 }
DBT - Depth below transducer https://gpsd.gitlab.io/gpsd/NMEA.html#_dbt_depth_below_transducer
Format: $--DBT,x.x,f,x.x,M,x.x,F*hh<CR><LF> Example: $IIDBT,032.93,f,010.04,M,005.42,F*2C
type DOR ¶ added in v1.6.0
type DOR struct { BaseSentence // Type is type of the message // * E – Single door // * F – Fault // * S – Section (whole or part of section) Type string // Time is Event Time Time Time // SystemIndicator is system indicator. Detector system type with 2 char identifier. // * WT - watertight // * WS - semi watertight // * FD - fire door // * HD - hull door // * OT - other // could be more // https://www.nmea.org/Assets/20190303%20nmea%200183%20talker%20identifier%20mnemonics.pdf SystemIndicator string // DivisionIndicator1 is first division indicator for locating origin detector for this message DivisionIndicator1 string // DivisionIndicator2 is second division indicator for locating origin detector for this message DivisionIndicator2 int64 // DoorNumberOrCount is Door number or activated door count (seems to be field with overloaded meaning) DoorNumberOrCount int64 // DoorStatus is Door status // * O – Open // * C – Closed // * X – Fault // could be more DoorStatus string // SwitchSetting is Mode switch setting // * O – Harbour mode (allowed open) // * C – Sea mode (ordered closed) SwitchSetting string // Message's description text (could be cut to fit max packet length) Message string }
DOR - Door Status Detection Source: "Interfacing Voyage Data Recorder Systems, AutroSafe Interactive Fire-Alarm System, 116-P-BSL336/EE, RevA 2007-01-25, Autronica Fire and Security AS " (page 32 | p.8.1.4) https://product.autronicafire.com/fileshare/fileupload/14251/bsl336_ee.pdf
Format: $FRDOR,a,hhmmss,aa,aa,xxx,xxx,a,a,c--c*hh<CR><LF> Example: $FRDOR,E,233042,FD,FP,000,010,C,C,Door Closed : TEST FPA Name*4D
type DPT ¶ added in v1.2.0
type DPT struct { BaseSentence Depth float64 // Water depth relative to transducer, meters Offset float64 // offset from transducer RangeScale float64 // OPTIONAL, Maximum range scale in use (NMEA 3.0 and above) }
DPT - Depth of Water https://gpsd.gitlab.io/gpsd/NMEA.html#_dpt_depth_of_water
Format: $--DPT,x.x,x.x,x.x*hh<CR><LF> Example: $SDDPT,0.5,0.5,*7B
$INDPT,2.3,0.0*46
type DSC ¶ added in v1.6.0
type DSC struct { BaseSentence // FormatSpecifier is Format specifier (2 digits) // > The call content is first described by a "format specifier" element. The format specifier is explained in // > ITU-Rec. M.493-13 Section 4, with various symbol codes in the "service command" range of symbols representing // > various message formats, as shown in Table 3 (by symbol number, then meaning of symbol) as follows: // > * 102 = selective call to a group of ships in particular geographic area // > * 112 = distress alert call // > * 114 = selective call to a group of ships having common interest // > * 116 = all ships call // > * 120 = selective call to particular individual station // > * 123 = selective call to a particular individual using automatic service FormatSpecifier string // Address (10 digits) Address string // Category (2 digits or empty) // > The call content is next described by a "category element" in Section 6. Again, various symbol codes in the // > "service command" range of symbols represent various categories, as follows from Table 3 (by symbol number, // > then meaning of symbol): // > * 100 = routine // > * 108 = safety // > * 110 = urgency // > * 112 = distress Category string // DistressCauseOrTeleCommand1 is The cause of the distress or first telecommand (2 digits or empty) // > Nature of Distress is to be encoded, again using Table 3, as follows // > * 100 = Fire, explosion // > * 101 = Flooding // > * 102 = Collision // > * 103 = Grounding // > * 104 = Listing, in danger of capsize // > * 105 = Sinking // > * 106 = Disabled and adrift // > * 107 = Undesignated distres // > * 108 = Abandoning ship // > * 109 = Piracy/armed robbery attack // > * 110 = Man overboard // > * 111 = unassigned symbol; take no action // > * 112 = EPRIB emission // > * 113 through 27 = unassigned symbol; take no action DistressCauseOrTeleCommand1 string // CommandTypeOrTeleCommand2 is Type of communication or second telecommand (2 digits) CommandTypeOrTeleCommand2 string // PositionOrCanal is Position (lat+lon) or Canal/frequency (Maximum 16 digits) // > Distress coordinates are to be encoded five parts, sent as a string of ten digits. The first digit indicates // > the direction of the latitude and longitude, with "0" for North and East, "1" for North and West, // > "2" for South and East, and "3" for South and West. The next two digits are the latitude in degrees. // > The next two digits are the latitude in whole minutes. The next three digits are the longitude in degrees. // > The next two digits are longitude in whole minutes. PositionOrCanal string // Position (lat+lon) or Canal/frequency (Maximum 16 digits) // TimeOrTelephoneNumber is Time or Telephone Number (Maximum 16 digits) // > The time in universal coordinated time is to be sent in 24-hour format in two parts, a total of four digits. // > The first two digits are the hours. The next two are the minutes. TimeOrTelephoneNumber string // MMSI of ship in distress (10 digits or empty) // > The call content is next described as having a "self-identification" element. This is simply the sending // > station's MMSI, encoded like the address element. This identifies who sent the message. MMSI string // DistressCause is The cause of the distress (2 digits or empty) DistressCause string // Acknowledgement (R=Acknowledge request, B=Acknowledgement, S=Neither (end of sequence)) Acknowledgement string // Expansion indicator (E or empty) ExpansionIndicator string }
DSC – Digital Selective Calling Information https://opencpn.org/wiki/dokuwiki/doku.php?id=opencpn:opencpn_user_manual:advanced_features:nmea_sentences https://web.archive.org/web/20190303170916/http://continuouswave.com/whaler/reference/DSC_Datagrams.html http://www.busse-yachtshop.de/pdf/icom-GM600-handbuch.pdf https://github.com/mariokonrad/marnav/blob/master/src/marnav/nmea/dsc.cpp (marnav has interesting enums worth checking)
Note: many fields of DSC are conditional with double meaning and we only map raw sentence to fields without any logic/checking of those conditions. We could have specific fields if we only knew the rules to populate them.
Format: $--DSC,xx,xxxxxxxxxx,xx,xx,xx,x.x, x.x,xxxxxxxxxx,xx, a,a*hh<CR><LF> Example: $CDDSC,20,3380400790,00,21,26,1423108312,2021,,,B, E*73
type DSE ¶ added in v1.6.0
type DSE struct { BaseSentence TotalNumber int64 // total number of sentences, 01 to 99 Number int64 // number of current sentence, 01 to 99 Acknowledgement string // Acknowledgement (R=Acknowledge request, B=Acknowledgement, S=Neither (end of sequence)) MMSI string // MMSI of vessel (10 digits) DataSets []DSEDataSet }
DSE – Expanded digital selective calling. Is sentence that follows DSC sentence to provide additional (extended) data. https://opencpn.org/wiki/dokuwiki/doku.php?id=opencpn:opencpn_user_manual:advanced_features:nmea_sentences http://www.busse-yachtshop.de/pdf/icom-GM600-handbuch.pdf
Format: $CDDSE, x, x, a, xxxxxxxxxx, xx, c--c, .........., xx, c--c*hh<CR><LF> Example: $CDDSE,1,1,A,3380400790,00,46504437*15
type DSEDataSet ¶ added in v1.6.0
type DSEDataSet struct { // Code is code field, 2 digits // From OpenCPN wiki: // > 00–this field of two-digits appears to be the expansion data specifier described in Table 1 of ITU-Rec.M821-1, // > but with the symbol representation in two-digits instead of three-digits. The leading “1” seems to not be used. // > (See modified table, above.) This field identifies the data that will follow in the next field. In this message, // > the data will be “enhanced position resolution.” Code string // Data is data field, Enhanced position resolution, Maximum 8 characters, could be empty // From OpenCPN wiki: // > 45894494–the data payload, which is eight digits. The first four are the decimal portion of the latitude // > minutes; the last four are the decimal portion of the longitude minutes. The latitude and longitude whole // > minutes were sent in the immediately preceding datagram. This is as specified in the ITU-Rec. M.821-1 in // > section 2.1.2.1 Data string }
DSEDataSet is pair of DSE sets of data containing code + its data
type EVE ¶ added in v1.6.0
type EVE struct { BaseSentence Time Time // Event Time TagCode string // Tag code Message string // Event text }
EVE - General Event Message Source: "Interfacing Voyage Data Recorder Systems, AutroSafe Interactive Fire-Alarm System, 116-P-BSL336/EE, RevA 2007-01-25, Autronica Fire and Security AS " (page 34 | p.8.1.5) https://product.autronicafire.com/fileshare/fileupload/14251/bsl336_ee.pdf
Format: $FREVE,hhmmss,c--c,c--c*hh<CR><LF> Example: $FREVE,000001,DZ00513,Fire Alarm On: TEST DZ201 Name*0A
type FIR ¶ added in v1.6.0
type FIR struct { BaseSentence // Type is type of the message // * E – Event, Fire Alarm // * F – Fault // * D – Disablement Type string // Time is Event Time Time Time // SystemIndicator is system indicator. Detector system type with 2 char identifier. // * FD Generic fire detector // * FH Heat detector // * FS Smoke detector // * FD Smoke and heat detector // * FM Manual call point // * GD Any gas detector // * GO Oxygen gas detector // * GS Hydrogen sulphide gas detector // * GH Hydro-carbon gas detector // * SF Sprinkler flow switch // * SV Sprinkler manual valve release // * CO CO2 manual release // * OT Other SystemIndicator string // DivisionIndicator1 is first division indicator for locating origin detector for this message DivisionIndicator1 string // DivisionIndicator2 is second division indicator for locating origin detector for this message DivisionIndicator2 int64 // FireDetectorNumberOrCount is Fire detector number or activated detectors count (seems to be field with overloaded meaning) FireDetectorNumberOrCount int64 // Condition describes the condition triggering current message // * A – Activation // * V – Non-activation // * X – State unknown Condition string // AlarmAckState is Alarm's acknowledge state // * A – Acknowledged // * V – Not acknowledged AlarmAckState string // Message's description text (could be cut to fit max packet length) Message string }
FIR - Fire Detection event with time and location Source: "Interfacing Voyage Data Recorder Systems, AutroSafe Interactive Fire-Alarm System, 116-P-BSL336/EE, RevA 2007-01-25, Autronica Fire and Security AS " (page 39 | p.8.1.6) https://product.autronicafire.com/fileshare/fileupload/14251/bsl336_ee.pdf
Format: $FRFIR,a,hhmmss,aa,aa,xxx,xxx,a,a,c--c*hh<CR><LF> Example: $FRFIR,E,103000,FD,PT,000,007,A,V,Fire Alarm : TEST PT7 Name TEST DZ2 Name*7A
type GGA ¶ added in v1.2.0
type GGA struct { BaseSentence Time Time // Time of fix. Latitude float64 // Latitude. Longitude float64 // Longitude. FixQuality string // Quality of fix. NumSatellites int64 // Number of satellites in use. HDOP float64 // Horizontal dilution of precision. Altitude float64 // Altitude. Separation float64 // Geoidal separation DGPSAge string // Age of differential GPD data. DGPSId string // DGPS reference station ID. }
GGA is the Time, position, and fix related data of the receiver. http://aprs.gids.nl/nmea/#gga https://gpsd.gitlab.io/gpsd/NMEA.html#_gga_global_positioning_system_fix_data
Format: $--GGA,hhmmss.ss,ddmm.mm,a,ddmm.mm,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF> Example: $GNGGA,203415.000,6325.6138,N,01021.4290,E,1,8,2.42,72.5,M,41.5,M,,*7C
type GLGSV
deprecated
type GLGSV = GSV
GLGSV represents the GPS Satellites in view http://aprs.gids.nl/nmea/#glgsv
Deprecated: Use GSV instead
type GLL ¶ added in v1.2.0
type GLL struct { BaseSentence Latitude float64 // Latitude Longitude float64 // Longitude Time Time // Time Stamp Validity string // validity - A=valid, V=invalid FFAMode string // FAA mode indicator (filled in NMEA 2.3 and later) }
GLL is Geographic Position, Latitude / Longitude and time. http://aprs.gids.nl/nmea/#gll https://gpsd.gitlab.io/gpsd/NMEA.html#_gll_geographic_position_latitudelongitude
Format : $--GLL,ddmm.mm,a,dddmm.mm,a,hhmmss.ss,a*hh<CR><LF> Format (NMEA 2.3+): $--GLL,ddmm.mm,a,dddmm.mm,a,hhmmss.ss,a,m*hh<CR><LF> Example: $IIGLL,5924.462,N,01030.048,E,062216,A*38 Example: $GNGLL,4404.14012,N,12118.85993,W,001037.00,A,A*67
type GNRMC
deprecated
type GNRMC = RMC
GNRMC is the Recommended Minimum Specific GNSS data. http://aprs.gids.nl/nmea/#rmc
Deprecated: Use RCM instead
type GNS ¶ added in v1.2.0
type GNS struct { BaseSentence Time Time // UTC of position Latitude float64 Longitude float64 // FAA mode indicator for each satellite navigation system (constellation) supported by device. // // May be up to six characters (according to GPSD). // '1' - GPS // '2' - GLONASS // '3' - Galileo // '4' - BDS // '5' - QZSS // '6' - NavIC (IRNSS) Mode []string SVs int64 // Total number of satellites in use, 00-99 HDOP float64 // Horizontal Dilution of Precision Altitude float64 // Antenna altitude, meters, re:mean-sea-level(geoid). Separation float64 // Geoidal separation meters Age float64 // Age of differential data Station int64 // Differential reference station ID }
GNS is standard GNSS sentance that combined multiple constellations https://gpsd.gitlab.io/gpsd/NMEA.html#_gns_fix_data
Format: $--GNS,hhmmss.ss,ddmm.mm,a,dddmm.mm,a,c--c,xx,x.x,x.x,x.x,x.x,x.x*hh<CR><LF> Example: $GNGNS,014035.00,4332.69262,S,17235.48549,E,RR,13,0.9,25.63,11.24,,*70
$GPGNS,224749.00,3333.4268304,N,11153.3538273,W,D,19,0.6,406.110,-26.294,6.0,0138,S*6A
type GPGGA
deprecated
type GPGGA = GGA
GPGGA represents fix data. http://aprs.gids.nl/nmea/#gga
Deprecated: Use GGA instead
type GPGLL
deprecated
type GPGLL = GLL
GPGLL is Geographic Position, Latitude / Longitude and time. http://aprs.gids.nl/nmea/#gll
Deprecated: Use GLL instead
type GPGSA
deprecated
type GPGSA = GSA
GPGSA represents overview satellite data. http://aprs.gids.nl/nmea/#gsa
Deprecated: Use GSA instead
type GPGSV
deprecated
type GPGSV = GSV
GPGSV represents the GPS Satellites in view http://aprs.gids.nl/nmea/#gpgsv
Deprecated: Use GSV instead
type GPHDT
deprecated
added in
v1.1.0
type GPHDT = HDT
GPHDT is the Actual vessel heading in degrees True. http://aprs.gids.nl/nmea/#hdt
Deprecated: Use HDT instead
type GPRMC
deprecated
type GPRMC = RMC
GPRMC is the Recommended Minimum Specific GNSS data. http://aprs.gids.nl/nmea/#rmc
Deprecated: Use RMC instead
type GPVTG
deprecated
type GPVTG = VTG
GPVTG represents track & speed data. http://aprs.gids.nl/nmea/#vtg
Deprecated: Use VTG instead
type GPZDA
deprecated
type GPZDA = ZDA
GPZDA represents date & time data. http://aprs.gids.nl/nmea/#zda
Deprecated: Use ZDA instead
type GSA ¶ added in v1.2.0
type GSA struct { BaseSentence Mode string // The selection mode. FixType string // The fix type. SV []string // List of satellite PRNs used for this fix. PDOP float64 // Dilution of precision. HDOP float64 // Horizontal dilution of precision. VDOP float64 // Vertical dilution of precision. // SystemID is (GNSS) System ID (NMEA 4.1+) // 1 - GPS // 2 - GLONASS // 3 - Galileo // 4 - BeiDou // 5 - QZSS // 6 - NavID (IRNSS) SystemID int64 }
GSA represents overview satellite data. http://aprs.gids.nl/nmea/#gsa https://gpsd.gitlab.io/gpsd/NMEA.html#_gsa_gps_dop_and_active_satellites
Format: $--GSA,a,a,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x*hh<CR><LF> Format (NMEA 4.1+): $--GSA,a,a,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x,x*hh<CR><LF> Example: $GNGSA,A,3,80,71,73,79,69,,,,,,,,1.83,1.09,1.47*17 Example (NMEA 4.1+): $GNGSA,A,3,13,12,22,19,08,21,,,,,,,1.05,0.64,0.83,4*0B
type GSV ¶ added in v1.2.0
type GSV struct { BaseSentence TotalMessages int64 // Total number of messages of this type in this cycle MessageNumber int64 // Message number NumberSVsInView int64 // Total number of SVs in view Info []GSVInfo // visible satellite info (0-4 of these) // SystemID is (GNSS) System ID (NMEA 4.1+) // 1 - GPS // 2 - GLONASS // 3 - Galileo // 4 - BeiDou // 5 - QZSS // 6 - NavID (IRNSS) SystemID int64 }
GSV represents the GPS Satellites in view http://aprs.gids.nl/nmea/#glgsv https://gpsd.gitlab.io/gpsd/NMEA.html#_gsv_satellites_in_view
Format: $--GSV,x,x,x,x,x,x,x,...*hh<CR><LF> Format (NMEA 4.1+): $--GSV,x,x,x,x,x,x,x,...,x*hh<CR><LF> Example: $GPGSV,3,1,11,09,76,148,32,05,55,242,29,17,33,054,30,14,27,314,24*71 Example (NMEA 4.1+): $GAGSV,3,1,09,02,00,179,,04,09,321,,07,11,134,11,11,10,227,,7*7F
type GSVInfo ¶ added in v1.2.0
type GSVInfo struct { SVPRNNumber int64 // SV PRN number, pseudo-random noise or gold code Elevation int64 // Elevation in degrees, 90 maximum Azimuth int64 // Azimuth, degrees from true north, 000 to 359 SNR int64 // SNR, 00-99 dB (null when not tracking) }
GSVInfo represents information about a visible satellite
type HDG ¶ added in v1.5.0
type HDG struct { BaseSentence Heading float64 // Heading in degrees Deviation float64 // Magnetic Deviation in degrees DeviationDirection string // Magnetic Deviation direction, E = Easterly, W = Westerly Variation float64 // Magnetic Variation in degrees VariationDirection string // Magnetic Variation direction, E = Easterly, W = Westerly }
HDG is vessel heading (in degrees), deviation and variation with respect to magnetic north produced by any device or system producing magnetic reading. https://gpsd.gitlab.io/gpsd/NMEA.html#_hdg_heading_deviation_variation
Format: $--HDG,x.x,y.y,a,z.z,a*hr<CR><LF> Example: $HCHDG,98.3,0.0,E,12.6,W*57
type HDM ¶ added in v1.5.0
type HDM struct { BaseSentence Heading float64 // Heading in degrees MagneticValid bool // Heading is respect to magnetic north }
HDM is vessel heading in degrees with respect to magnetic north produced by any device or system producing magnetic heading. https://gpsd.gitlab.io/gpsd/NMEA.html#_hdm_heading_magnetic
Format: $--HDM,xxx.xx,M*hh<CR><LF> Example: $HCHDM,093.8,M*2B
type HDT ¶ added in v1.2.0
type HDT struct { BaseSentence Heading float64 // Heading in degrees True bool // Heading is relative to true north }
HDT is the Actual vessel heading in degrees True. http://aprs.gids.nl/nmea/#hdt https://gpsd.gitlab.io/gpsd/NMEA.html#_gsv_satellites_in_view
Format: $--HDT,x.x,T*hh<CR><LF> Example: $GPHDT,274.07,T*03
type HSC ¶ added in v1.6.0
type HSC struct { BaseSentence TrueHeading float64 // Heading Degrees, True TrueHeadingType string // T = True MagneticHeading float64 // Heading Degrees, Magnetic MagneticHeadingType string // M = Magnetic }
HSC - Heading steering command https://gpsd.gitlab.io/gpsd/NMEA.html#_hsc_heading_steering_command https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf (page 11)
Format: $--HSC, x.x, T, x.x, M,a*hh<CR><LF> Example: $FTHSC,40.12,T,39.11,M*5E
type MDA ¶ added in v1.4.0
type MDA struct { BaseSentence PressureInch float64 InchesValid bool // I PressureBar float64 BarsValid bool // B AirTemp float64 AirTempValid bool // C or empty if no data WaterTemp float64 WaterTempValid bool // C or empty if no data RelativeHum float64 // percent to .1 AbsoluteHum float64 // percent to .1 DewPoint float64 DewPointValid bool // C or empty if no data WindDirectionTrue float64 TrueValid bool // T WindDirectionMagnetic float64 MagneticValid bool // M WindSpeedKnots float64 KnotsValid bool // N WindSpeedMeters float64 MetersValid bool // M }
MDA is the Meteorological Composite Data of air pressure, air and water temperatures and wind speed and direction https://gpsd.gitlab.io/gpsd/NMEA.html#_mda_meteorological_composite https://opencpn.org/wiki/dokuwiki/doku.php?id=opencpn:opencpn_user_manual:advanced_features:nmea_sentences#mda
Format: $--MDA,n.nn,I,n.nnn,B,n.n,C,n.C,n.n,n,n.n,C,n.n,T,n.n,M,n.n,N,n.n,M*hh<CR><LF> Example: $WIMDA,3.02,I,1.01,B,23.4,C,,,40.2,,12.1,C,19.3,T,20.1,M,13.1,N,1.1,M*62
type MTA ¶ added in v1.6.0
type MTA struct { BaseSentence Temperature float64 // temperature Unit string // unit of temperature, should be degrees Celsius }
MTA - Air Temperature (obsolete, use XDR instead) https://www.nmea.org/Assets/100108_nmea_0183_sentences_not_recommended_for_new_designs.pdf (page 7)
Format: $--MTA,x.x,C*hh<CR><LF> Example: $IIMTA,13.3,C*04
type MTK ¶ added in v1.2.0
type MTK struct { BaseSentence Cmd, Flag int64 }
MTK is sentence for NMEA embedded command packet protocol. https://www.rhydolabz.com/documents/25/PMTK_A11.pdf https://www.sparkfun.com/datasheets/GPS/Modules/PMTK_Protocol.pdf
The maximum length of each packet is restricted to 255 bytes which is longer than NMEA0183 82 bytes.
Format: $PMTKxxx,c-c*hh<CR><LF> Example: $PMTK000*32<CR><LF>
$PMTK001,101,0*33<CR><LF>
type MTW ¶ added in v1.5.0
type MTW struct { BaseSentence Temperature float64 // Temperature, degrees CelsiusValid bool // Is unit of measurement Celsius }
MTW is sentence for mean temperature of water. https://gpsd.gitlab.io/gpsd/NMEA.html#_mtw_mean_temperature_of_water
Format: $--MTW,TT.T,C*hh<CR><LF> Example: $INMTW,17.9,C*1B
type MWD ¶ added in v1.4.0
type MWD struct { BaseSentence WindDirectionTrue float64 TrueValid bool WindDirectionMagnetic float64 MagneticValid bool WindSpeedKnots float64 KnotsValid bool WindSpeedMeters float64 MetersValid bool }
MWD Wind Direction and Speed, with respect to north. https://www.tronico.fi/OH6NT/docs/NMEA0183.pdf http://gillinstruments.com/data/manuals/OMC-140_Operator_Manual_v1.04_131117.pdf
Format: $--MWD,x.x,T,x.x,M,x.x,N,x.x,M*hh<CR><LF> Example: $WIMWD,10.1,T,10.1,M,12,N,40,M*5D
type MWV ¶ added in v1.4.0
type MWV struct { BaseSentence WindAngle float64 Reference string WindSpeed float64 WindSpeedUnit string StatusValid bool }
MWV is the Wind Speed and Angle, in relation to the vessel’s bow/centerline. https://gpsd.gitlab.io/gpsd/NMEA.html#_mwv_wind_speed_and_angle
Format: $--MWV,x.x,a,x.x,a*hh<CR><LF> Example: $WIMWV,12.1,T,10.1,N,A*27
type NotSupportedError ¶ added in v1.4.2
type NotSupportedError struct {
Prefix string
}
NotSupportedError is returned when parsed sentence is not supported
func (*NotSupportedError) Error ¶ added in v1.4.2
func (p *NotSupportedError) Error() string
Error returns error message
type PGRME ¶
type PGRME struct { BaseSentence Horizontal float64 // Estimated horizontal position error (HPE) in metres Vertical float64 // Estimated vertical position error (VPE) in metres Spherical float64 // Overall spherical equivalent position error in meters }
PGRME is Estimated Position Error (Garmin proprietary sentence) http://aprs.gids.nl/nmea/#rme https://gpsd.gitlab.io/gpsd/NMEA.html#_pgrme_garmin_estimated_error
Format: $PGRME,hhh,M,vvv,M,ttt,M*hh<CR><LF> Example: $PGRME,3.3,M,4.9,M,6.0,M*25
type PHTRO ¶ added in v1.5.0
type PHTRO struct { BaseSentence Pitch float64 // Pitch in degrees Bow string // "M" for bow up and "P" for bow down (2 digits after the decimal point) Roll float64 // Roll in degrees Port string // "B" for port down and "T" for port up (2 digits after the decimal point) }
PHTRO is proprietary sentence for vessel pitch and roll. https://www.igp.de/manuals/7-INS-InterfaceLibrary_MU-INSIII-AN-001-O.pdf (page 172)
Format: $PHTRO,x.xx,a,y.yy,b*hh<CR><LF> Example: $PHTRO,10.37,P,177.62,T*65
type PRDID ¶ added in v1.5.0
type PRDID struct { BaseSentence Pitch float64 // Pitch in degrees (positive bow up) Roll float64 // Roll in degrees (positive port up) Heading float64 // True heading in degrees }
PRDID is proprietary sentence for vessel pitch, roll and heading. https://www.xsens.com/hubfs/Downloads/Manuals/MT_Low-Level_Documentation.pdf (page 37)
Format: $PRDID,aPPP.PP,bRRR.RR,HHH.HH*hh<CR><LF> Example: $PRDID,-10.37,2.34,230.34*AA
type PSONCMS ¶ added in v1.5.0
type PSONCMS struct { BaseSentence Quaternion0 float64 // q0 from quaternions Quaternion1 float64 // q1 from quaternions Quaternion2 float64 // q2 from quaternions Quaternion3 float64 // q3 from quaternions AccelerationX float64 // acceleration X in m/s2 AccelerationY float64 // acceleration Y in m/s2 AccelerationZ float64 // acceleration Z in m/s2 RateOfTurnX float64 // rate of turn X in rad/s RateOfTurnY float64 // rate of turn Y in rad/s RateOfTurnZ float64 // rate of turn Z in rad/s MagneticFieldX float64 // magnetic field X in a.u. MagneticFieldY float64 // magnetic field Y in a.u. MagneticFieldZ float64 // magnetic field Z in a.u. SensorTemperature float64 // sensor temperature in degrees Celsius }
PSONCMS is proprietary Xsens IMU/VRU/AHRS device sentence for quaternion, acceleration, rate of turn, magnetic Field, sensor temperature. https://www.xsens.com/hubfs/Downloads/Manuals/MT_Low-Level_Documentation.pdf (page 37)
Format: $PSONCMS,Q.QQQQ,P.PPPP,R.RRRR,S.SSSS,XX.XXXX,YY.YYYY,ZZ.ZZZZ,
FF.FFFF,GG.GGGG,HH.HHHH,NN.NNNN,MM,MMMM,PP.PPPP,TT.T*hh<CR><LF>
Example: $PSONCMS,0.0905,0.4217,0.9020,-0.0196,-1.7685,0.3861,-9.6648,-0.0116,0.0065,-0.0080,0.0581,0.3846,0.7421,33.1*76
type Parser ¶ added in v1.2.0
type Parser struct { BaseSentence // contains filtered or unexported fields }
Parser provides a simple way of accessing and parsing sentence fields
func (*Parser) AssertType ¶ added in v1.2.0
AssertType makes sure the sentence's type matches the provided one.
func (*Parser) Date ¶ added in v1.2.0
Date returns the Date value at the specified index. If the value is empty, the Date is marked as invalid.
func (*Parser) EnumChars ¶ added in v1.2.0
EnumChars returns an array of strings that are matched in the Mode field. It will only match the number of characters that are in the Mode field. If the value is empty, it will return an empty array
func (*Parser) EnumString ¶ added in v1.2.0
EnumString returns the field value at the specified index. An error occurs if the value is not one of the options and not empty.
func (*Parser) Err ¶ added in v1.2.0
Err returns the first error encountered during the parser's usage.
func (*Parser) Float64 ¶ added in v1.2.0
Float64 returns the float64 value at the specified index. If the value is an empty string, 0 is returned.
func (*Parser) Int64 ¶ added in v1.2.0
Int64 returns the int64 value at the specified index. If the value is an empty string, 0 is returned.
func (*Parser) LatLong ¶ added in v1.2.0
LatLong returns the coordinate value of the specified fields.
func (*Parser) ListString ¶ added in v1.2.0
ListString returns a list of all fields from the given start index. An error occurs if there is no fields after the given start index.
func (*Parser) SetErr ¶ added in v1.2.0
SetErr assigns an error. Calling this method has no effect if there is already an error.
func (*Parser) SixBitASCIIArmour ¶ added in v1.2.0
SixBitASCIIArmour decodes the 6-bit ascii armor used for VDM and VDO messages
type ParserFunc ¶ added in v1.2.0
type ParserFunc func(BaseSentence) (Sentence, error)
ParserFunc callback used to parse specific sentence variants
type RMB ¶ added in v1.6.0
type RMB struct { BaseSentence // DataStatus is status of data, // * A = OK // * V = Navigation receiver warning DataStatus string // Cross Track error (nautical miles, 9.9 max) CrossTrackErrorNauticalMiles float64 // DirectionToSteer is Direction to steer, // * L = left // * R = right DirectionToSteer string // OriginWaypointID is origin (FROM) waypoint ID OriginWaypointID string // DestinationWaypointID is destination (TO) waypoint ID DestinationWaypointID string // DestinationLatitude is destination waypoint latitude DestinationLatitude float64 // DestinationLongitude is destination waypoint longitude DestinationLongitude float64 // RangeToDestinationNauticalMiles is range to destination, nautical miles (999,9 max) RangeToDestinationNauticalMiles float64 // TrueBearingToDestination is true bearing to destination, degrees TrueBearingToDestination float64 // VelocityToDestinationKnots is velocity towards destination, knots VelocityToDestinationKnots float64 // ArrivalStatus is Arrival Status // * A = arrival circle entered // * V = not arrived ArrivalStatus string // FAA mode indicator (filled in NMEA 2.3 and later) FFAMode string }
RMB - Recommended Minimum Navigation Information. To be sent by a navigation receiver when a destination waypoint is active. Alternative to BOD and BWW sentences. https://gpsd.gitlab.io/gpsd/NMEA.html#_rmb_recommended_minimum_navigation_information http://aprs.gids.nl/nmea/#rmb
Format: $--RMB,A,x.x,a,c--c,c--c,llll.ll,a,yyyyy.yy,a,x.x,x.x,x.x,A*hh<CR><LF> Format (NMEA2.3+): $--RMB,A,x.x,a,c--c,c--c,llll.ll,a,yyyyy.yy,a,x.x,x.x,x.x,A,m*hh<CR><LF> Example: $GPRMB,A,0.66,L,003,004,4917.24,N,12309.57,W,001.3,052.5,000.5,V*0B
type RMC ¶ added in v1.2.0
type RMC struct { BaseSentence Time Time // Time Stamp Validity string // validity - A-ok, V-invalid Latitude float64 // Latitude Longitude float64 // Longitude Speed float64 // Speed in knots Course float64 // True course Date Date // Date Variation float64 // Magnetic variation FFAMode string // FAA mode indicator (filled in NMEA 2.3 and later) }
RMC is the Recommended Minimum Specific GNSS data. http://aprs.gids.nl/nmea/#rmc https://gpsd.gitlab.io/gpsd/NMEA.html#_rmc_recommended_minimum_navigation_information
Format: $--RMC,hhmmss.ss,A,ddmm.mm,a,dddmm.mm,a,x.x,x.x,xxxx,x.x,a*hh<CR><LF> Format NMEA 2.3: $--RMC,hhmmss.ss,A,ddmm.mm,a,dddmm.mm,a,x.x,x.x,xxxx,x.x,a,m*hh<CR><LF> Format NMEA 4.1: $--RMC,hhmmss.ss,A,ddmm.mm,a,dddmm.mm,a,x.x,x.x,xxxx,x.x,a,m,s*hh<CR><LF> Example: $GNRMC,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*6E
$GNRMC,142754.0,A,4302.539570,N,07920.379823,W,0.0,,070617,0.0,E,A*21 $GNRMC,102014.00,A,5550.6082,N,03732.2488,E,000.00000,092.9,300518,,,A,V*3B
type ROT ¶ added in v1.5.0
type ROT struct { BaseSentence RateOfTurn float64 // rate of turn Z in deg/min (- means bow turns to port) Valid bool // "A" data valid, "V" invalid data }
ROT is sentence for rate of turn. https://gpsd.gitlab.io/gpsd/NMEA.html#_rot_rate_of_turn
Format: $HEROT,-xxx.x,A*hh<CR><LF> Example: $HEROT,-11.23,A*07
type RPM ¶ added in v1.6.0
type RPM struct { BaseSentence Source string // Source, S = Shaft, E = Engine EngineNumber int64 // Engine or shaft number SpeedRPM float64 // Speed, Revolutions per minute PitchPercent float64 // Propeller pitch, % of maximum, "-" means astern Status string // Status, A = Valid, V = Invalid }
RPM - Engine or Shaft revolutions and pitch https://gpsd.gitlab.io/gpsd/NMEA.html#_rpm_revolutions
Format: $--RPM,a,x,x.x,x.x,A*hh<CR><LF> Example: $RCRPM,S,0,74.6,30.0,A*56
type RSA ¶ added in v1.6.0
type RSA struct { BaseSentence StarboardRudderAngle float64 // Starboard (or single) rudder sensor, "-" means Turn To Port StarboardRudderAngleStatus string // Status, A = valid, V = Invalid PortRudderAngle float64 // Port rudder sensor PortRudderAngleStatus string // Status, A = valid, V = Invalid }
RSA - Rudder Sensor Angle https://gpsd.gitlab.io/gpsd/NMEA.html#_rsa_rudder_sensor_angle
Format: $--RSA,x.x,A,x.x,A*hh<CR><LF> Example: $IIRSA,10.5,A,,V*4D
type RTE ¶ added in v1.2.0
type RTE struct { BaseSentence NumberOfSentences int64 // Number of sentences in sequence SentenceNumber int64 // Sentence number ActiveRouteOrWaypointList string // Current active route or waypoint list Name string // Name or number of active route Idents []string // List of ident of waypoints }
RTE is a route of waypoints http://aprs.gids.nl/nmea/#rte https://gpsd.gitlab.io/gpsd/NMEA.html#_rte_routes
Format: $--RTE,x.x,x.x,a,c--c,c--c, ..... c--c*hh<CR><LF> Example: $GPRTE,2,1,c,0,PBRCPK,PBRTO,PTELGR,PPLAND,PYAMBU,PPFAIR,PWARRN,PMORTL,PLISMR*73
type THS ¶ added in v1.2.0
type THS struct { BaseSentence Heading float64 // Heading in degrees Status string // Heading status }
THS is the Actual vessel heading in degrees True with status. http://www.nuovamarea.net/pytheas_9.html http://manuals.spectracom.com/VSP/Content/VSP/NMEA_THSmess.htm
Format: $--THS,xxx.xx,c*hh<CR><LF> Example: $GPTHS,338.01,A*36
type TXT ¶ added in v1.5.0
type TXT struct { BaseSentence TotalNumber int64 // total number of sentences, 01 to 99 Number int64 // number of current sentences, 01 to 99 ID int64 // identifier of the text message, 01 to 99 // Message contains ASCII characters, and code delimiters if needed, up to the maximum permitted sentence length // (i.e., up to 61 characters including any code delimiters) Message string }
TXT is sentence for the transmission of short text messages, longer text messages may be transmitted by using multiple sentences. This sentence is intended to convey human readable textual information for display purposes. The TXT sentence shall not be used for sending commands and making device configuration changes. https://www.nmea.org/Assets/20160520%20txt%20amendment.pdf
Format: $--TXT,xx,xx,xx,c-c*hh<CR><LF> Example: $GNTXT,01,01,02,u-blox AG - www.u-blox.com*4E
type TagBlock ¶ added in v1.3.0
type TagBlock struct { Time int64 // TypeUnixTime unix timestamp (unit is likely to be s, but might be ms, YMMV), parameter: -c RelativeTime int64 // TypeRelativeTime relative time, parameter: -r Destination string // TypeDestinationID destination identification 15 char max, parameter: -d Grouping string // TypeGrouping sentence grouping, parameter: -g LineCount int64 // TypeLineCount line count, parameter: -n Source string // TypeSourceID source identification 15 char max, parameter: -s Text string // TypeTextString valid character string, parameter -t }
TagBlock struct
type Time ¶
Time type
type VDMVDO ¶ added in v1.2.0
type VDMVDO struct { BaseSentence NumFragments int64 FragmentNumber int64 MessageID int64 Channel string Payload []byte }
VDMVDO is sentence ($--VDM or $--VDO) used to encapsulate generic binary payloads. It is most commonly used with AIS data. https://gpsd.gitlab.io/gpsd/AIVDM.html
Example: !AIVDM,1,1,,B,177KQJ5000G?tO`K>RA1wUbN0TKH,0*5C
type VDR ¶ added in v1.6.0
type VDR struct { BaseSentence SetDegreesTrue float64 // Direction degrees, True SetDegreesTrueUnit string // T = True SetDegreesMagnetic float64 // Direction degrees, True SetDegreesMagneticUnit string // M = Magnetic DriftKnots float64 // Current speed, knots DriftUnit string // N = Knots }
VDR - Set and Drift In navigation, set and drift are characteristics of the current and velocity of water over the ground in which a ship is sailing. Set is the bearing the current is flowing. Drift is the magnitude of the current. https://gpsd.gitlab.io/gpsd/NMEA.html#_vdr_set_and_drift
Format: $--VDR,x.x,T,x.x,M,x.x,N*hh<CR><LF> Example: $IIVDR,10.1,T,12.3,M,1.2,N*3A
type VHW ¶ added in v1.2.0
type VHW struct { BaseSentence TrueHeading float64 MagneticHeading float64 SpeedThroughWaterKnots float64 SpeedThroughWaterKPH float64 }
VHW contains information about water speed and heading https://gpsd.gitlab.io/gpsd/NMEA.html#_vhw_water_speed_and_heading
Format: $--VHW,x.x,T,x.x,M,x.x,N,x.x,K*hh<CR><LF> Example: $VWVHW,45.0,T,43.0,M,3.5,N,6.4,K*56
type VLW ¶ added in v1.6.0
type VLW struct { BaseSentence TotalInWater float64 // Total cumulative water distance, nm TotalInWaterUnit string // N = Nautical Miles SinceResetInWater float64 // Water distance since Reset, nm SinceResetInWaterUnit string // N = Nautical Miles TotalOnGround float64 // Total cumulative ground distance, nm (NMEA 3 and above) TotalOnGroundUnit string // N = Nautical Miles (NMEA 3 and above) SinceResetOnGround float64 // Ground distance since reset, nm (NMEA 3 and above) SinceResetOnGroundUnit string // N = Nautical Miles (NMEA 3 and above) }
VLW - Distance Traveled through Water https://gpsd.gitlab.io/gpsd/NMEA.html#_vlw_distance_traveled_through_water
Format: $--VLW,x.x,N,x.x,N*hh<CR><LF> Format (NMEA 3+): $--VLW,x.x,N,x.x,N,x.x,N,x.x,N*hh<CR><LF> Example: $IIVLW,10.1,N,3.2,N*7C Example: $IIVLW,10.1,N,3.2,N,0,N,0,N*7C
type VPW ¶ added in v1.6.0
type VPW struct { BaseSentence SpeedKnots float64 // Speed, "-" means downwind, knots SpeedKnotsUnit string // N = knots SpeedMPS float64 // Speed, "-" means downwind, m/s SpeedMPSUnit string // M = m/s }
VPW - Speed Measured Parallel to Wind https://gpsd.gitlab.io/gpsd/NMEA.html#_vpw_speed_measured_parallel_to_wind
Format: $--VPW,x.x,N,x.x,M*hh<CR><LF> Example: $IIVPW,4.5,N,6.7,M*52
type VTG ¶ added in v1.2.0
type VTG struct { BaseSentence TrueTrack float64 MagneticTrack float64 GroundSpeedKnots float64 GroundSpeedKPH float64 FFAMode string // FAA mode indicator (filled in NMEA 2.3 and later) }
VTG represents track & speed data. http://aprs.gids.nl/nmea/#vtg https://gpsd.gitlab.io/gpsd/NMEA.html#_vtg_track_made_good_and_ground_speed
Format: $--VTG,x.x,T,x.x,M,x.x,N,x.x,K*hh<CR><LF> Format (NMEA 2.3+): $--VTG,x.x,T,x.x,M,x.x,N,x.x,K,m*hh<CR><LF> Example: $GPVTG,45.5,T,67.5,M,30.45,N,56.40,K*4B
$GPVTG,220.86,T,,M,2.550,N,4.724,K,A*34
type VWR ¶ added in v1.6.0
type VWR struct { BaseSentence MeasuredAngle float64 // Measured Wind direction magnitude in degrees (0 to 180 deg) MeasuredDirectionBow string // Measured Wind direction Left/Right of bow SpeedKnots float64 // Measured wind Speed, knots SpeedKnotsUnit string // N = knots SpeedMPS float64 // Wind speed, meters/second SpeedMPSUnit string // M = m/s SpeedKPH float64 // Wind speed, km/hour SpeedKPHUnit string // M = km/h }
VWR - Relative Wind Speed and Angle. Speed is measured relative to the moving vessel. According to NMEA: use of $--MWV is recommended. https://gpsd.gitlab.io/gpsd/NMEA.html#_vwr_relative_wind_speed_and_angle https://www.nmea.org/Assets/100108_nmea_0183_sentences_not_recommended_for_new_designs.pdf (page 16)
Format: $--VWR,x.x,a,x.x,N,x.x,M,x.x,K*hh<CR><LF> Example: $IIVWR,75,R,1.0,N,0.51,M,1.85,K*6C
$IIVWR,024,L,018,N,,,,*5e $IIVWR,,,,,,,,*53
type VWT ¶ added in v1.6.0
type VWT struct { BaseSentence TrueAngle float64 // true Wind direction magnitude in degrees (0 to 180 deg) TrueDirectionBow string // true Wind direction Left/Right of bow SpeedKnots float64 // true wind Speed, knots SpeedKnotsUnit string // N = knots SpeedMPS float64 // Wind speed, meters/second SpeedMPSUnit string // M = m/s SpeedKPH float64 // Wind speed, km/hour SpeedKPHUnit string // M = km/h }
VWT - True Wind Speed and Angle https://www.nmea.org/Assets/100108_nmea_0183_sentences_not_recommended_for_new_designs.pdf https://www.rubydoc.info/gems/nmea_plus/1.0.20/NMEAPlus/Message/NMEA/VWT https://lists.gnu.org/archive/html/gpsd-dev/2012-04/msg00048.html
Format: $--VWT,x.x,a,x.x,N,x.x,M,x.x,K*hh<CR><LF> Example: $IIVWT,75,x,1.0,N,0.51,M,1.85,K*40
type WPL ¶ added in v1.2.0
type WPL struct { BaseSentence Latitude float64 // Latitude Longitude float64 // Longitude Ident string // Ident of nth waypoint }
WPL contains information about a waypoint location http://aprs.gids.nl/nmea/#wpl https://gpsd.gitlab.io/gpsd/NMEA.html#_wpl_waypoint_location
Format: $--WPL,llll.ll,a,yyyyy.yy,a,c--c*hh<CR><LF> Example: $IIWPL,5503.4530,N,01037.2742,E,411*6F
type XDR ¶ added in v1.6.0
type XDR struct { BaseSentence Measurements []XDRMeasurement }
XDR - Transducer Measurement https://gpsd.gitlab.io/gpsd/NMEA.html#_xdr_transducer_measurement https://www.eye4software.com/hydromagic/documentation/articles-and-howtos/handling-nmea0183-xdr/
Format: $--XDR,a,x.x,a,c--c, ..... *hh<CR><LF> Example: $HCXDR,A,171,D,PITCH,A,-37,D,ROLL,G,367,,MAGX,G,2420,,MAGY,G,-8984,,MAGZ*41
$SDXDR,C,23.15,C,WTHI*70
type XDRMeasurement ¶ added in v1.6.0
type XDRMeasurement struct { // TransducerType is type of transducer // * A - Angular displacement // * C - Temperature // * D - Depth // * F - Frequency // * H - Humidity // * N - Force // * P - Pressure // * R - Flow // * B - Absolute humidity // * G - Generic // * I - Current // * L - Salinity // * S - Switch, valve // * T - Tachometer // * U - Voltage // * V - Volume // could be more TransducerType string // Value of measurement Value float64 // Unit of measurement // * "" - could be empty! // * A - Amperes // * B - Bars | Binary // * C - Celsius // * D - Degrees // * H - Hertz // * I - liters/second // * K - Kelvin | Density, kg/m3 kilogram per cubic metre // * M - Meters | Cubic Meters (m3) // * N - Newton // * P - percent of full range | Pascal // * R - RPM // * S - Parts per thousand // * V - Volts // could be more Unit string // TransducerName is name of transducer where measurement was recorded TransducerName string }
XDRMeasurement is measurement recorded by transducer
type XTE ¶ added in v1.6.0
type XTE struct { BaseSentence // StatusGeneralWarning is used for warnings // * V = LORAN-C Blink or SNR warning // * A = general warning flag or other navigation systems when a reliable fix is not available StatusGeneralWarning string // StatusLockWarning is used for lock warning // * V = Loran-C Cycle Lock warning flag // * A = OK or not used StatusLockWarning string // CrossTrackErrorMagnitude is Cross Track Error Magnitude CrossTrackErrorMagnitude float64 // DirectionToSteer is Direction to steer, // * L = left // * R = right DirectionToSteer string // CrossTrackUnits is cross track units // * N = nautical miles // * K = for kilometers CrossTrackUnits string // FAA mode indicator (filled in NMEA 2.3 and later) FFAMode string }
XTE - Cross-track error, measured https://gpsd.gitlab.io/gpsd/NMEA.html#_xte_cross_track_error_measured
Format: $--XTE,A,A,x.x,a,N*hh<CR><LF> Format (NMEA 2.3): $--XTE,A,A,x.x,a,N,m*hh<CR><LF> Example: $GPXTE,V,V,,,N,S*43
type ZDA ¶ added in v1.2.0
type ZDA struct { BaseSentence Time Time Day int64 Month int64 Year int64 OffsetHours int64 // Local time zone offset from GMT, hours OffsetMinutes int64 // Local time zone offset from GMT, minutes }
ZDA represents date & time data. http://aprs.gids.nl/nmea/#zda https://gpsd.gitlab.io/gpsd/NMEA.html#_zda_time_date_utc_day_month_year_and_local_time_zone
Format: $--ZDA,hhmmss.ss,xx,xx,xxxx,xx,xx*hh<CR><LF> Example: $GPZDA,172809.456,12,07,1996,00,00*57
Source Files ¶
- aam.go
- ala.go
- apb.go
- bec.go
- bod.go
- bwc.go
- bwr.go
- bww.go
- dbk.go
- dbs.go
- dbt.go
- deprecated.go
- dor.go
- dpt.go
- dsc.go
- dse.go
- eve.go
- fir.go
- gga.go
- gll.go
- gns.go
- gsa.go
- gsv.go
- hdg.go
- hdm.go
- hdt.go
- hsc.go
- mda.go
- mta.go
- mtk.go
- mtw.go
- mwd.go
- mwv.go
- parser.go
- pgrme.go
- phtro.go
- prdid.go
- psoncms.go
- rmb.go
- rmc.go
- rot.go
- rpm.go
- rsa.go
- rte.go
- sentence.go
- tagblock.go
- ths.go
- txt.go
- types.go
- vdmvdo.go
- vdr.go
- vhw.go
- vlw.go
- vpw.go
- vtg.go
- vwr.go
- vwt.go
- wpl.go
- xdr.go
- xte.go
- zda.go