User Manual

A NMEA-0183 Output
128 Trimble R6/R7 GPS and Trimble R8 GNSS Receivers User Guide
Trimble R6 and R7 GPS/R8 GNSS Receiver Operation
A.3 NMEA Messages
When NMEA-0183 output is enabled, the following messages can be generated.
AVR Time, Yaw, Tilt, Range for Moving Baseline RTK
The AVR message string is shown below, and Table A.1 describes the message fields.
$PTNL,AVR,181059.6,+149.4688,Yaw,+0.0134,Tilt,,,60.191,3,2.5,6*00
GGA Time, Position, and Fix Related Data
An example of the GGA message string is shown below. Tab le A. 2 describes the
message fields.
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,
2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F
Table A.1 AVR message fields
Field Meaning
1UTC of vector fix
2 Yaw angle in degrees
3
Ya w
4 Tilt angle in degrees
5
Tilt
6
Reserved
7
Reserved
8 Range in meters
9 Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential carrier phase solution RTK (Float)
3: Differential carrier phase solution RTK (Fix)
4: Differential code-based solution, DGPS
10 PDOP
11
Number of satellites used in solution
Table A.2 GGA message fields
Field Meaning
1 UTC of position fix
2Latitude
3 Direction of latitude:
N: North
S: South
4 Longitude