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APPENDIX 4 DIGITAL INTERFACE
ROT - Rate of turn
$**ROT,x.x,A*hh<CR><LF>
1 2
1. Rate of turn, deg/min, "-"=bow turns to port (-9999.99 to 9999.99)
2. Status (A=data valid)
RPM - Revolutions
$**RPM, a, x, x.x, x.x, A*hh<CR><LF>
1 2 3
4
1. Source (S=shaft E=engine)
2. Engine or shaft number
(numbered from centerline, 0 = single or on centerline, odd = starboard, even = port) (0 to 9)
3. Speed, revolutions/min (-1000.0 to 1000.0)
4. Propeller pitch (-100.0 to 100.0)
5. Status (A=data invalid)
RSA - Rudder sensor angle
$**RSA,x.x,A,x.x,A*hhCR><LF>
1 2 3 4
1. Starboard (or single) rudder sensor data (-180 - 180.0)
2. Starboard (or single) rudder sensor status (A=Vaild)
3. Port rudder sensor data (-180.00 to 180.00)
4. Port rudder sensor status (A=Vaild)
THS - Rudder sensor angle
$**THS,x.x,a*hh<CR><LF>
1 2
1. Heading, degrees True (0.00 to 360.00)
2. Mode indicator (A=Autonomous)
VBW - Dual ground/water speed
$**VBW,x.x,x.x,A,x.x,x.x,A,x.x,A,x.x,A,*hh<CR><LF>
1
2 3 4
1. Longitudinal water speed, knots (-9999.999 to 9999.999)
2. Transverse water speed, knots (-9999.999 to 9999.999)
3. Status: water speed (A=Data valid)
4. Longitudinal ground speed, knots (-9999.999 to 9999.999)
5. Transverse ground speed, knots (-9999.999 to 9999.999)
6. Status: ground speed (A=Data valid)
7. Stern transverse water speed, knots (-9999.999 to 9999.999)
8. Status: stern water speed (A=Data valid)
9. Stern transverse ground speed, knots (-9999.999 to 9999.999)
10. Status: stern ground speed (A=Data valid)
VHW - Water speed and heading
$**VHW,x.x,T,x.x,M,x.x,N,x.x,K,*hh <CR><LF>
1 2 3 4 5 6 7 8
1. Heading, degree True (0.00 to 360.00)
2. T=True (fixed)
3. Heading, degree Magnetic (0.00 to 360.00)
4. M=Magnetic (fixed)
5. Speed, knots (0.00 to 9999.99)
6. N=Knots (fixed)
7. Speed, km/h (0.00 to 9999.99)
8. K=km/h (fixed)
AP-10
5
5 6 7 8 9 10
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