Nmeagrs (Ascii); Nmeagsa (Ascii); Table 42: Grs Message Output Format; Table 43: Gsa Message Output Format - Oceaneering C-NavX1 User Manual

11.4.6 NMEAGRS (ASCII)

This output stream reports Receiver Autonomous Integrity Monitoring (RAIM) data, reporting Range Residuals
in compliance with NMEA-0183 Standards version 3.0. NMEA-0183 version 4.1 is given by the addition of fields
F9 and F10.

Table 42: GRS Message Output Format

Output
Format:
Field#
F1
F2
F3
F9
F10
F11
Example:
$GPGRS,162404.00,0,-0.2,-0.9,-0. 3,0.2,0.4,0.1,0. 6,0.7,0.5,*4F (As NMEA v3.0)

11.4.7 NMEAGSA (ASCII)

This output message reports 2D / 3D solution mode, DOP values and active satellite inf ormation, and is in
compliance with NMEA-0183 Standards version 3.0. Field F7 is added to comply with version 4.1 of the NMEA
standard.

Table 43: GSA Message Output Format

Output
$xxGSA,mode,solution,used,pdop,hdop,vdop,*checksum (As NMEA v3.0)
Format:
Field
Field#
Name
F1 mode
F2 solution
F3 used
F4 pdop
F5 hdop
F6 vdop
F7 GNID
F8
Example:
$GPGSA,A,3,03,08,13,16,20,23,25,27,,,,,2.4,1.4,1.9,1*36 (As NMEA v3.0)
CNAV-MAN-061
Revision B
C-NavX1 GNSS Receiver User Manual
$xxGRS,UTC,Mode,Res..., Res, *checksum (As NMEA v3.0)
Field Name Description
UTC UTC time of the associated GGA or GNS f ix (hhmmss.ss)
Mode How the residuals were calculated (see notes below)
Res Up to 12 range residuals (+/- 999 meters) (See notes below)
System ID 1 f or GPS (GP), 2 f or GLONASS (GL) (NMEA v4.1 only)
Signal ID 1 f or Single Mode and 0 f or Dual Mode (NMEA v4.1 only)
Checksum
Description
Mode
M= manual (f orced to operate in 2D or 3D mode)
A= automatic (allowed to automatically switch between 2D/3D)
Solution
1= f ix not available
2= 2D
3= 3D
ID numbers of satellites used in solution.
Dilution of position
Horizontal dilution of position
Vertical dilution of position
1 f or GPS (GP), 2 f or GLONASS (GL) (NMEA v4.1 only)
Checksum
DOC-TEM-28-NUM Rev A Uncontrolled copy when printed
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