Instruction manual

Command Response Formats Page 121
Command
NMEA Message VTG (COG/SOG)
$GPVTG
This message displays the vehicle course over ground (COG) and speed over ground
(SOG). The structure is
$GPVTG,ccc,T,ccc,M,sss.ss,N,,sss.ss,K
where the fields are as described in Table 4.72.
Example:
$GPVTG,329.01,T,346.31,M,000.07,N,000.13,K
NMEA Cross-Track Error
$PASHS,NME,XTE
This command asks for the cross-track error. The structure is
$PASHS,NME,XTE,x
where x is the port to output the message.
$GPXTE
This response message displays the cross-track error (XTE). The structure is
$GPXTE,v,v,eee.eee,s,n
where the fields are as defined in Table 4.73.
Table 4.72: VTG Structure
Field Description
ccc,T COG (Course Over Ground) and T for true north 0 through 359 degrees
ccc,M COG and M for magnetic variation north 0 through 359 degrees
sss.ss,N SOG (Speed Over Ground) and N for knots 0 through 999.99 knots/hour
sss.ss,K SOG (Speed Over Ground) and K for km r 0 through 999.99 km/hour
Table 4.73: XTE Structure
Field Description
v Validation of SNR A = valid V = invalid
v Validation of cycle lock A = valid V = inavlid
eee.eee Cross-track error 0 through 999.999
v Steer left or right L = left R = right
N Nautical miles constant