Novus NR7020-RO User manual

DATA SHEET NUMBER
NR7020-RO
REVISION
B
DATE
040522
Page #:
1 of 4
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NR7020-RO
Miniature Low Noise OCXO Rubidium Reference
This atomic reference brings exceptional stability in a very
small, low power and economic package. It offers a
Rubidium reference, low phase noise options in a 5”x
3.4”X1.33 aluminum chassis. There are 10 MHz low phase
noise sine output, or 10MHz LVCMOS output, plus a PPS.
This atomic reference affords exceptional holdover stability
of less than 0.3 ppb/month. Temperature stability of 1ppb.
To further enhance stability, the Rubidium source is
available with a GNSS locking option. All channels are
monitored for a fault condition and built-in test monitors
critical circuits which drives BITE and serial indicators.
Rubidium Atomic
Reference
Aging < 4E-10/month
Phase Noise
Offset Frequency Typical
(Hz) (dBc / Hz)
10 -120
100 -145
1K -155
10K-160
Output
10 MHz,0.5 Vrms sine, or Square Wave (SMA)

DATA SHEET NUMBER
NR7020-RO
REVISION
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DATE
040522
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Accuracy at Shipment
<0.5E-9
Monthly Aging
<2E-11 after 3 months of operation
Yearly Aging
<1E-9 after 3 months operation (unlocked)
Locked
<5 E-11
Harmonic Distortion
< -30 dBc
Alert
BITE, LED, Serial messaging
Rubidium Atomic
Frequency Standard:
Accuracy at shipment
+/-5.0E-10
Warm-up time
<10 minutes
Time of lock
<5 min -130 dBm
Time to achieve accuracy
<1E-9<6 minutes
Aging - monthly
<5E-11
Aging - yearly
<1.0E-9
Temperature Stability
<1 E-9
Time for valid output
<12 minutes
Frequency Accuracy
<1E-11
Stability: Allan Deviation
1s
<3E-10
10s
<1E-10
100s
<3E-11
Phase noise for 10MHz Sine
Standard Low Noise Option (NR700 RO)
10Hz
< -83 <-120dBc
100Hz
<-115 <145dBc
1000Hz
<-135 <-155dBc
10000Hz
135 <-160dBc
PPS
Amplitude for 1PPS
3.3 Vdc CMOS (5 Vdc option)
Pulse width for 1PPS
Programmable 0.1 to 500ms in 0.1ms steps
Rise time for 1PPS
<1 ns
Jitter
Two PPS modes- GNSS-PPS and stabilized PPS- GNSS-PPS < 6ns
Stabilized PPS < 1 ns,
Connector
SMA
Load Impedance
50 Ohm
Location
rear
GNSS receiver
GPS L1 C/A, GLONASS L1OF, QZSS L1 C/A, SBAS L1 C/A
(Ready): Galileo E1B/E1C, QZSS L1S
Channels
26 channels (GPS, GLONASS, QZSS, SBAS)
Sensitivity
GPS
Tracking: -161 dBm
Hot Start: -161 dBm
Warm Start: -147 dBm
Cold Start: -147 dBm

DATA SHEET NUMBER
NR7020-RO
REVISION
B
DATE
040522
Page #:
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Reacquisition: -161 dBm
GLONASS
Tracking: -157 dBm
Hot Start: -157 dBm
Warm Start: -143 dBm
Cold Start: -143 dBm
Reacquisition: -157 dBm
With Novus recommended antenna
Antenna with LNA
Antenna power
3.5 Vdc, < 35 ma (on center conductor) (factory configurable to 5 Vdc)
Frequency
1574-1607 MHz
Nominal Gain
2 dBic
Amplifier gain
26 dB
Noise Figure
< 2.0 dB
Out of Band rejection
Fo±50MHz=60 dBc, Fo±60 MHz
Remote interface & control
Protocol
RS232
Connector
DB-25 Male
Location
Rear panel
Protocol
Bit plus stop
Standard Baud Rates
Selectable 9600, 19200, 38400, 57600 or 115200 bps
Main Power
Size
5 x 3.4 x 1.33 inches
DC input
5Vdc 3 amps peak 1.5 amps steady state
Power
<7 W ( steady state < 4 W)
Warranty
1 year plus 3 year optional extended warranty from date of shipment
Environmental and Mechanical
Operating Temperature
-20 to 55°C non-condensing (optional extended temperature range)
Storage Temperature
-40 to 70°C
Weight
<0.5 lbs

DATA SHEET NUMBER
NR7020-RO
REVISION
B
DATE
040522
Page #:
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www.novuspower.com
This document is copyright © April 6, 2022 Novus Power Products LLC. All rights
reserved. This document is provided for information purposes only; contents are subject
to change without notice. It is not warranted to be error-free, nor subject to any other
warranties or conditions including implied warranties and conditions of merchantability or
fitness for a particular purpose.

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Users Manual Appendix A
Appendix A
GPS/GNSS Receiver Communications Specification
NMEA-0183
All information provided herein is the proprietary property of Novus Power Products
L.L.C. The information included may be reproduced without the permission of Novus
Power Products L.L.C. without prior approval for purpose of operating the equipment.

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Table of Contents:
1COMMUNICATION SPECIFICATION ......................................................................................................................... 4
2SERIAL DATA OUTPUT TIMING △4........................................................................................................................... 5
3NMEA SENTENCE FORMAT ..................................................................................................................................... 6
4PROPRIETARY SENTENCE FORMAT: ........................................................................................................................ 7
5STANDARD NMEA OUTPUT SENTENCES.................................................................................................................. 8
GGA –GLOBAL POSITIONING SYSTEM FIX DATA FORMAT:.............................................................................................................. 9
GLL –GEOGRAPHIC POSITION -LATITUDE/LONGITUDE △6 ........................................................................................................ 10
GNS –GNSS FIX DATA FORMAT: ............................................................................................................................................ 11
GSA –GNSS DOP AND ACTIVE SATELLITES △4 ...................................................................................................................... 12
GSV –GNSS SATELLITES IN VIEW △4 ....................................................................................................................................... 13
RMC –RECOMMENDED MINIMUM NAVIGATION INFORMATION△6 ............................................................................................... 15
VTG –COURSE OVER GROUND AND GROUND SPEED FORMAT: ..................................................................................................... 17
ZDA –TIME &DATE FORMAT:................................................................................................................................................ 17
6PROPRIETARY NMEA INPUT SENTENCES............................................................................................................... 18
GNSS –SATELLITE SYSTEM CONFIGURATION △4△8 .................................................................................................................... 19
FIXMASK –SETTING OF POSITIONING AND SATELLITE MASK △4 ................................................................................................... 20
PPS –SETTING OF PPS（PULSE PER SECOND）△4FORMAT: ....................................................................................................... 22
RESTART -RESTART COMMAND △4FORMAT: ........................................................................................................................... 24
TIME –SETTING OF TIME INFORMATION △4 .............................................................................................................................. 25
TIMEZONE –LOCAL ZONE TIME △4........................................................................................................................................ 26
SURVEY –POSITION MODE △1FORMAT:................................................................................................................................. 27
FREQ –SETTING OF GCLK FREQUENCY △2△7FORMAT:.......................................................................................................... 31
DEFLS –SETTING OF DEFAULT LEAP SECOND △4△6FORMAT:....................................................................................................... 32
TIMEALIGN –SETTING OF TIME ALIGNMENT △4FORMAT:........................................................................................................... 33
RESTRICTION:........................................................................................................................................................................ 34
FLASHBACKUP –SETTING OF BACKUP IN FLASH △4FORMAT: ..................................................................................................... 35
CROUT –SETTING OF CR OUTPUT FORMAT: ............................................................................................................................. 36
7CFG –SETTING OF APPLICATION SOFTWARE........................................................................................................ 37
NMEAOUT –STANDARD NMEA OUTPUT △9 .......................................................................................................................... 37
UART1 –SERIAL COMMUNICATIONPORT FORMAT:.................................................................................................................... 37
SYS –PVT SYSTEM ............................................................................................................................................................... 39
GPIO –GENERAL PURPOSE INPUT/OUTPUT FORMAT:.................................................................................................................. 39

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8PROPRIETARY NMEA OUTPUT SENTENCES ........................................................................................................... 40
ACK –OUTPUT THE COMMAND RECEPTION CHECK FORMAT:........................................................................................................ 40
9CR –ERIDE GNSS CORE LIBRARY INTERFACE ...................................................................................................... 41
CRW(TPS1) –OUTPUT TIME TRANSFER INFO PER SECOND (DATE AND LEAP SECOND)△4△5FORMAT: ................................................ 41
CRX(TPS2) –OUTPUT TIME TRANSFER INFO PER SECOND (PPS)△4FORMAT: ................................................................................ 44
CRY(TPS3) –OUTPUT TIME TRANSFER INFO PER SECOND (SURVEY &TRAIM) FORMAT: .................................................................. 46
CRZ (TPS4) –OUTPUT TIME TRANSFER INFO PER SECOND (FREQUENCY)△3FORMAT:.................................................................. 48
CRM –MEASUREMENT DATA OF GPS ...................................................................................................................................... 50
CRN –NAVIGATION DATA ...................................................................................................................................................... 51
SYS –ANSWER OF PVT SYSTEM............................................................................................................................................... 52
GPIO- GENERAL PURPOSE INPUT/OUTPUT FORMAT:.................................................................................................................... 52
FIXSESSION- FIX SESSION △1FORMAT: ................................................................................................................................... 53
ANTSEL- ANTENNA SELECTING △1FORMAT:.............................................................................................................................. 53
BBRAM -BATTERY BACKUP RANDOM ACCESS MEMORY △1FORMAT: ........................................................................................... 54
MSG –EVENT DRIVEN MESSAGE △1FORMAT: .......................................................................................................................... 54
10 BACKUP OF THE RECEIVER PARAMETERS (FOR BBRAM) △4 .................................................................................. 55

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1Communication Specification
Signal Lines used: TXD, RXD
Flow Control: None
System: Full Duplex Asynchronous
Speed: Configurable, Default 38400 bps (*1)
Start Bit: 1 bit
Data Length: 8 bits
Stop Bit: 1 bit
Parity Bit: None
Data Output Interval: 1 second
Character Codes used: NMEA-0183 Ver.4.10 data based
ASCII code (*2) Protocol: Input data
NMEA Standard
sentence NMEA
Proprietary
sentence
Output data
NMEA Standard
sentence NMEA
Proprietary
sentence
Note 1: Communication speed can be changed into 4800, 9600, 19200, 38400, 57600
or 115200 bps.
Please refer to section “UART1 –Serial Communication Port” for how to
configure the communication speed. In case of using low baud rate, please
adjust size of output sentence by NMEAOUT command and CROUT command
to output all sentence within one second.
Note 2: ”NMEA 0183 STANDARD FOR INTERFACING MARINE ELECTRONIC DEVICES
Version 4.10” (NATIONAL MARINE ELECTRONICS ASSOCIATION, June, 2012)

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2Serial data output timing △4
The output timing of serial data is synchronous with PPS output timing. Serial data is begun to
output in the 25ms to 75ms range after PPS is output.
The time of serial data indicates next PPS output timing.
PPS(t-1) PPS(t) PPS(t+1)

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3NMEA Sentence Format
13.1 Standard Sentence
Format:
5 bytes
Field
Description
$
Start-of Sentence marker
<address field>
5-byte fixed length. First 2 bytes represent a talker ID, and the
remaining 3 bytes do a sentence formatter.
All output sentences must begin with a “$” followed by a TalkerID.
The relevant Talker IDs are GP for GPS, GN for GNSS, GL for
GLONASS and GA for Galileo.
For the sentences received from external equipment, the GT-87
accepts any talker ID. Talker ID “XX” found on the succeeding pages
is a wildcard meaning “any valid talker ID”.
<data field>
Variable or fixed-length fields preceded by delimiter “,”(comma).
Comma(s) are required even when valid field data are not available
i.e. null fields. Ex. “,,,,,”
In a numeric field with fixed field length, fill unused leading digits
with zeroes.
*<checksum field>
8 bits data between “$” and “*” (excluding “$” and “*”) are XORed,
and the resultant value is converted to 2bytes of hexadecimal
letters. Note that two hexadecimal letters must be preceded by“*”,
and delimiter “,” is not required before *<checksum>.
All output sentences have checksum.
For input sentences, the resultant value is checked and if it is not
correct, the sentence is treated invalid.
<CR><LF>
End-of-Sentence marker
$
<address field>
,
<data field>
…
*<checksum field>
<CR>
<LF>

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4Proprietary Sentence Format:
3 bytes 3 bytes
Field
Description
$
Start-of-Sentence marker
P
Proprietary sentence identifier
<maker ID>
3-byte fixed length.
GT-87’s maker ID is “ERD” meaning eRide.
<sentence type>
Indicates the type of sentence.
<data field>
Variable or fixed-length fields preceded by delimiter
“,”(comma).
(Layout is maker-definable.)
<checksum field>
8 bits data between “$” and “*”(excluding “$” and “*”) are
XORed, and the resultant value is converted to 2 bytes of
hexadecimal letters. Note that two hexadecimal letters must be
preceded by “*”, and delimiter “,” is not required before
*<checksum>.
All output sentences have checksum.
For input sentences, the resultant value is checked and if it is
not correct, the sentence is treated invalid.
<CR><LF>
End-of-Sentence marker
$
P
<maker ID>
<sentence type>
,
<data field>
…
*<checksum field>
<CR>
<LF>

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5Standard NMEA Output Sentences
The receiver supports eight standard NMEA output sentences (GGA, GLL, GNS, GSA, GSV, RMC, VTG
and ZDA) per NMEA standard 0183 Version 4.10 (June, 2012).
By default, the RMC, GNS, GSA, ZDA, GSV and TPS sentences will be output every second. The
sentences can be independently enabled and disabled using the $PERDCFG,NMEAOUT and/or
$PERDAPI,CROUT command described later in this document, as well as use differing transmission
rates.
The NMEA sentence descriptions in this sentence are for reference only. The sentence formats are
defined exclusively by the copyrighted document from NMEA.
e Ride does populate all the fields described in the NMEA specification. Uncalculated fields are
indicated as “Not Supported”.

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GGA – Global Positioning System Fix Data Format:
1 2 3 4 5 6 7
x.x
,
x.x
,
M
,
x.x
,
M
,
xxx
,
xxx
*hh
<CR>
<LF>
8 9 10 11 12 13 14
#.
1.
Description
UTC
“hh”: hour
Range
00 - 23
“mm”: minute
00 - 59
2-3.
“ss.sss”: second
Latitude
00.000 - 59.999
“dd”: degree
00 - 90
“mm.mmmm”: minute
“a”: North/South
00.0000 - 59.9999
N or S
4-5.
Longitude
“ddd”: degree
000 - 180
“mm.mmmm”: minute
00.0000 - 59.9999
6.
“a”: East/West
GPS Quality Indication
E or W
0 - 2
“0”: Fix not available or invalid
7.
Number of satellites used for positioning
“1”: Valid fix
“2”: DGPS positioning
00 –12 [*1]
8.
Horizontal dilution of precision (HDOP)
0.0-50.0
Note: A null field is output while positioning is interrupted.
9. Altitude above/below mean sea-level (geoid)
10.
Unit of Altitude, meter
M
11.
Geoidal height
12.
Unit of Geoidal height
M
13.
Age of differential GPS data
n/a
14.
Differential reference station ID
n/a
Example:
$GPGGA,025411.516,3442.8146,N,13520.1090,E,1,11,0.8,24.0,M,36.7,M,,*66
UTC: 02:54:11.516 34 deg 42.8146 min N 135 deg 20.1090 min E
Status: Valid fix Number of satellites: 11 satellites HDOP: 0.8
Altitude: 24.0 meters high Geoidal height: 36.7 meters high
[*1] GPS, SBAS, QZSS only. Galileo and GLONASS are not counted. Upper limit is 12.
$XXGGA
,
hhmmss.sss
,
ddmm.mmmm
,
a
,
dddmm.mmmm
,
a
,
x
,
xx
,

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GLL – Geographic Position - Latitude/Longitude △ 6
Format:
$XXGLL
,
ddmm.mmmm
,
a
,
dddmm.mmmm
,
a
,
hhmmss.sss
,
a
,
a
*hh
<CR>
<LF>
1 2 3 4 5 6 7
#
1-2.
Description
Latitude
Range
“dd”: degree
00 - 90
“mm.mmmm”: minute
“a”: North/South
00.0000 - 59.9999
N or S
3-4.
Longitude
“ddd”: degree
000 - 180
“mm.mmmm”: minute
00.0000 - 59.9999
5.
“a”: East/West
UTC
“hh”: hour
E or W
00 - 23
“mm”: minute
00 - 59
“ss.sss”: second
00.000 - 59.999
6.
Status △6
A or V
7.
Position System Mode Indication
“A”: Data Valid
“V”: Data Invalid
A, D or N
“A”: Autonomous
“D”: Differential
“N”: Data Invalid
Example:
$GPGLL,3442.8146,N,13520.1090,E,025411.516,A,A*5F
34 deg 42.8146 min N 135 deg 20.1090 min E
UTC: 02:54:11.516 Mode: Data Valid

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GNS – GNSS Fix Data Format:
1 2 3 4 5 6 7
x.x
,
x.x
,
x.x
,
x
,
x
,
x
*hh
<CR>
<LF>
8 9 10 11 12 13
#.
1.
Description
UTC
“hh”: hour
Range
00 - 23
“mm”: minute
00 - 59
2-3.
“ss.sss”: second
Latitude
00.000 - 59.999
“dd”: degree
00 - 90
“mm.mmmm”: minute
“a”: North/South
00.0000 - 59.9999
N or S
4-5.
Longitude
“ddd”: degree
000 - 180
“mm.mmmm”: minute
00.0000 - 59.9999
“a”: East/West
E or W
6. Mode Indicator for each satellite system (GPS, GLONASS, Galileo)
“A”: Autonomous
“D”: Differential
“N”: Data Invalid
7.
Number of satellites used for positioning
00 - 32
8.
Horizontal dilution of precision (HDOP)
0.0 - 50.0
Note: A null field is output while positioning is interrupted.
9. Altitude above/below mean sea-level (geoid)
10. Geoidal height
11.
Age of differential GPS data
n/a
12.
Differential reference station ID
n/a
13.
Navigation Status Indicator
S, C, U or V
“S”: Safe
“C”: Caution
“U”: Unsafe
“V”: Not Valid
Example:
$GNGNS,004457.000,3442.8266,N,13520.1235,E,DDN,22,0.5,40.6,36.7,,,V*60
UTC: 00:44:57.000 34 deg 42.8266 min N 135 deg 20.1235 min E
Status: Data Valid (GPS: differential, GLONASS: differential, Galileo: Invalid)
Number of satellites: 22 satellites HDOP: 0.5
Altitude: 40.6 meters high Geoidal height: 36.7 meters high
Navigation Status Indicator: Not Valid
$XXGNS
,
hhmmss.sss
,
ddmm.mmmm
,
a
,
dddmm.mmmm
,
a
,
c--c
,
xx
,

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GSA – GNSS DOP and Active Satellites △ 4
Format:
$XXGSA
,
a
,
a
,
xx
,
xx
,
xx
,
…
,
xx
,
x.x
,
x.x
,
x.x
,
h
*hh
<CR>
<LF>
1 2 3 4 5 6-13 14 15 16 17 18
#
1.
Description
Operational mode
Range
M or A
“M”: 2D/3D fixed mode
“A”: 2D/3D Auto-switching mode
2.
Mode
1 - 3
“1”: No fix
“2”: 2D fix
“3”: 3D fix
3-14.
Satellite Numbers used for positioning
01 - 99
Note: A null field is output unless a satellite is available.
15. PDOP 0.0 - 50.0
Note: A null field is output unless 3D-positioning is performed.
16. HDOP 0.0 - 50.0
Note: A null field is output while positioning is interrupted.
17. VDOP 0.0 - 50.0
Note: A null field is output unless 3D-positioning is performed.
18. GNSS System ID n/a
Example:
$GNGSA,A,3,09,15,26,05,24,21,08,02,29,28,18,10,0.8,0.5,0.5,1*33
$GNGSA,A,3,79,69,68,84,85,80,70,83,,,,,0.8,0.5,0.5,2*30
2D/3D Auto-switching mode, 3D fix
Satellite used: 09, 15, 26, 05, 24, 21, 08, 02, 29, 28, 10, 79, 69, 68, 84, 85, 80, 70,83
PDOP: 0.8 HDOP: 0.5 VDOP: 1.5
Notes: △ 4
-To adds extra fields to the GPGSA NMEA string to show more than 12 satellites used in the fix,
please input “$PERDAPI,EXTENDGSA,num*hh<CR><LF>”. num is Number of fields for satellites
used in the fix. Acceptable values are: 12-16. Default num is 12. By creating more fields for satellites
used in the fix, the PDOP/HDOP/VDOP values shift by num12 fields.
-Satellite number means the follow.
Satellite number from 01 to 32 indicates GPS (01 to 32)
Satellite number from 33 to 51 indicates SBAS (120 to 138)
Satellite number from 65 to 92 indicates GLONASS (slot 01 to slot 28)
Satellite number from 93 to 99 indicates QZSS (193 to 199)

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GSV – GNSS Satellites in View △ 4
Format:
$XXGSV
,
x
,
x
,
x
,
xx
,
xx
,
xxx
,
xx
,
xx
,
xx
,
xxx
,
xx
,
1 2 3 4 5 6 7 8 9 10 11
xx
,
xx
,
xxx
,
xx
,
xx
,
xx
,
xxx
,
xx
h
*hh
<CR>
<LF>
12 13 14 15 16 17 18 19 20
#
1.
Description
Total number of messages
Range
1 - 4
2.
Number of messages
1 - 4
3.
Number of satellites in line-of-sight
00 - 14
4.
1st Sat. ID number
01 - 99
5.
1st Sat. elevation angle (degree)
00 - 90
6.
1st Sat. azimuth angle (degree)
000 - 359
7.
1st Sat. SNR (Signal/Noise Ratio) (dB)
00 - 99
8-11.
2nd Sat. Details
12-15.
3rd Sat. Details
16-19.
4th Sat. Details
20.
Signal ID
Example:
$GPGSV,4,1,14,15,67,319,52,09,63,068,53,26,45,039,50,05,44,104,49,1*6E
$GPGSV,4,2,14,24,42,196,47,21,34,302,46,18,12,305,43,28,11,067,41,1*68
$GPGSV,4,3,14,08,07,035,38,29,04,237,39,02,02,161,40,50,47,163,44,1*67
$GPGSV,4,4,14,42,48,171,44,93,65,191,48,,,,,,,,,1*60
$GLGSV,3,1,09,79,66,099,50,69,55,019,53,80,33,176,46,68,28,088,45,1*76
$GLGSV,3,2,09,70,25,315,46,78,24,031,42,85,18,293,44,84,16,246,41,1*7A
$GLGSV,3,3,09,86,02,338,,,,,,,,,,,,,,1*45
Not fixed
Message number
Total number of message
<checksum><CR><LF> is output right after the last satellite data output.
Notes: △ 4
-In this sentence, a maximum of four satellite details is indicated per each output. Five or more
satellite details are output in the 2nd or 3rd messages. When there is an item which is not fixed in
the satellite details, a null field is output. When there are only one to four satellite details,
<checksum><CR><LF> is issued immediately after Sat. SV#, Sat. elevation angle, Sat. azimuth
angle and SNR.
-Satellite number means the follow.
Satellite number from 01 to 32 indicates GPS (01 to 32)
Satellite number from 33 to 51 indicates SBAS (120 to 138)
Satellite number from 65 to 92 indicates GLONASS (slot 01 to slot 28)

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Satellite number from 93 to 99 indicates QZSS (193 to 199)

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RMC – Recommended Minimum Navigation Information △ 6
Format:
$XXRMC
,
hhmmss.sss
,
a
,
ddmm.mmmm
,
a
,
dddmm.mmmm
,
a
,
x.x
,
1 2 3 4 5 6 7
x.x
,
ddmmyy
,
x.x
,
a
,
a
,
a
*hh
<CR>
<LF>
8 9 10 11 12 13
# Description Range
1. UTC
“hh”: hour 00 - 23
“mm”: minute 00 - 59
“ss.sss”: second 00.000 - 59.999
2. Status △6 A or V
“A”: Data valid
“V”: Data not valid
3-4. Latitude
“dd”: degree 00 - 90
“mm.mmmm”: minute 00.0000 - 59.9999
“a”: North/South N or S
5-6. Longitude
“ddd”: degree 000 - 180
“mm.mmmm”: minute 00.0000 - 59.9999
“a”: East/West E or W
7. Speed (kts)
8. True Course (degree)
9. Date
“dd”: date
“mm”: month
“yy”: last two digits of the year
10. Magnetic declination
Note: A null field is output unless magnetic declination information is available.
11. Correction direction of magnetic declination
Note: A null field is output unless magnetic declination information is available.
12. Positioning System Mode Indication A, D or N
“A”: Autonomous
“D”: Differential
“N”: Data Invalid
13. Navigation Status Indicator S, C, U or V
“S”: Safe
“C”: Caution
“U”: Unsafe
“V”: Not Valid

Users manual
Appendix A
Revision #:
A
Date:
07-14-15
Page 16 of 58
Example:
$GNRMC,012344.000,A,3442.8266,N,13520.1233,E,0.00,0.00,191132,,,D,V*0B
UTC: 01:23:44.000 Differential 34 deg 42.8266 min N 135 deg 20.1233 min E
Speed: 0.0 kts True Course: 0.0 degrees UTC Date: Nov 19, 2032