Reyax RSS8833 Quick start guide

RYS8830
RSS8833
1-Jan-2020 56312E34
GNSS Module Software Guide

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GNSS Monitor software
After Install GNSS_MonitorForCustomerSetup.exe, Please open a dialog window by selecting “Setup(S)”-
>“Serial Port(S)”. Then you should put following parameter on the window
Port Number: This depends on your PC system.
Baud rate: 115200
Data: 8bit Stop:
1bit Parity:
None
Flow control: None
Read Timeout(sec): Unlimited
RtsEnable: False
DtrEnable: False
Line feed code
receive：LF
transmit：CR+LF

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QUICK START GUIDE
Search mode select
A click of Cold/Warm/Hot button in command control area of GNSS monitor will start to fix position. Please move
to Idle mode and assert Cold start in case of changing search mode.
It is possible to input a command directly from a command input window.
Hot start : @GSR
Warm start : @GSW
Cold start : @GCD IDLE
mode : @GSTP
Command input procedure
In the case of use communication terminal software other than a GNSS monitor, positioning operation will be
started if a command is inputted below. It is required to key in “enter” or “\r\n” in the end of all Commands.
Ex.) Baud rate : 115200bps, Normal mode, GPS search mode, Cold Start
@GSTP (Set IDLE Mode)
@CSBR **** (Set UART Baud rate)
9600 : 9,600bps
38400 : 38,400 bps
115200 : 115,200bps
@GSOP 1 1000 0 (Set Operation mode)
@GNS 0x** (Set search mode)
01 : GPS
02 : GLONASS
03 : GPS+GLONASS
@GCD (Cold start)
Please change the operation mode in IDLE mode. And after changing operation mode, please execute Cold start.

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COMMAND
1. Automatic backup data save ON/OFF.....................................................................................................................5
2. Automatic backup data save ON/OFF.....................................................................................................................5
3. Output sentence select................................................................................................................................................6
4. Backup data save...........................................................................................................................................................6
5. Backup data clear ..........................................................................................................................................................7
6. UART0 baud rate setting.............................................................................................................................................7
7. Flash memory erase......................................................................................................................................................7
8. GPS almanac data acquisition....................................................................................................................................8
9. GPS almanac data injection ........................................................................................................................................8
10. Cold start ....................................................................................................................................................................8
11. GPS ephemeris data acquisition...........................................................................................................................8
12. GPS ephemeris data injection...............................................................................................................................9
13. Positioning-use satellite setting ..........................................................................................................................9
14. Receiver position setting (ellipsoidal coordinates) ......................................................................................10
15. Receiver position setting (ellipsoidal coordinates) ......................................................................................10
16. 1PPS output setting...............................................................................................................................................11
17. TCXO offset acquisition........................................................................................................................................11
18. Operation mode setting.......................................................................................................................................12
19. Hot start for position accuracy...........................................................................................................................13
20. Hot start for TTFF ...................................................................................................................................................13
21. Positioning stop......................................................................................................................................................13
22. Warm start................................................................................................................................................................13
23. TCXO offset setting................................................................................................................................................14
24. GPS test end ................................................................................................................................................................... 14
25. Time setting .............................................................................................................................................................14
26. GPS test result output...........................................................................................................................................15
27. GPS test start ...........................................................................................................................................................15

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28. Positioning algorithm setting.............................................................................................................................16
29. GLONASS almanac data acquisition .................................................................................................................16
30. GLONASS almanac data injection......................................................................................................................17
31. GLONASS ephemeris data acquisition .............................................................................................................17
32. GLONASS ephemeris data injection..................................................................................................................17
33. Sleep...........................................................................................................................................................................18
34. Firmware revision number acquisition.............................................................................................................18
35. Wake-up ...................................................................................................................................................................18
NMEA sentence specifications .................................................................... 19
1. GGA : Global Positioning System Fix Data............................................................................................................19
2. GLL : Geographic Position –Latitude / Longitude.................................................................................................. 20
3. GNS: GNSS Fix Data ............................................................................................................................................. 21
4. GSA: GNSS DOP and Active Satellites....................................................................................................................22
5. GSV: GNSS Satellites In View....................................................................................................................................23
6. RMC: Recommended Minimum Specific GNSS Data ........................................................................................24
7. VTG: Course Over Ground & Ground Speed .......................................................................................................25
8. ZDA: Time & Date........................................................................................................................................................26
Operation states...........................................................................................27
Operation modes .........................................................................................28
Normal mode .......................................................................................................................................................................28
Low power mode.................................................................................................................................................................30

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COMMAND
Default: Key in <CR><LF> at the end of all Commands.
1. Automatic backup data save ON/OFF
Syntax
Response
@ABPT <arg 1>
[ABPT] Done
This command is used to setting the interval of the automatic backup data save function.
The unit is“minute” and the value from 1 to 1,440 min can be set (default value: 60min) .
This command must be issued at Idle state and the automatic backup data save function
disabled.
Please take account to the life of the flash memory when using this function.
Argument:
Field
Description
arg 1
Set the interval of the automatic backup data save. The unit is minute
(default value is 60min) .
2. Automatic backup data save ON/OFF
Syntax
Response
@ABUP <arg 1>
[ABUP] Done
This command is used to control the automatic backup data save function.
When “1” is specified for the argument, the backup data contents are saved in the flash
memory automatically at the first fix (This save is not executed if the time specified by
@ABPT has not elapsed since the last save). Then the backup data contents are saved in the
flash memory automatically with specified interval set by @ABPT beginning at the first fix.
For information about the backup data, see “@BUP”.
This command must be issued at Idle state. When this command is issued at Exec state,
error is returned. When the automatic backup data save is executing, the sentence may be
output erratically sometimes.
Please take account to the life of the flash memory when using this function.
Argument:
Field
Description
arg 1
Control automatic backup data save function.
0: OFF (default value).
1: ON.

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3. Output sentence select
Syntax
Response
@BSSL <arg 1>
[BSSL] Done
This command is used to select the NMEA sentence to be output.
The sentences are assigned to each of the bits of the argument. “1” is set for the bits of
the sentences which are to be output, and “0” is set for the bits of the sentences whose
output is not required. Arguments can be specified in decimal or hexadecimal notation.
With hexadecimal notation, add ‘0x’ in front of the numeral.
Argument:
Field
Description
arg 1
Output NMEA sentence
bit0 : GGA
bit1 : GLL
bit2 : GSA
bit3 : GSV
bit4 : GNS
bit5 : RMC
bit6 : VTG
bit7 : ZDA
bit8 : Reserved
bit9 : Reserved
bit10 : Reserved
bit11 : Reserved
bit12 : Reserved
bit13 : Reserved
bit14 : Reserved
bit15 : Reserved
bit16 : Reserved
bit17 : Reserved
(Default value: 0x000000EF)
4. Backup data save
Syntax
Response
@BUP
[BUP] Done
This command is used to save the backup data. The backup data contents are saved in the
flash memory.
The backup data saved in the flash memory is automatically restored at boot-up from
power OFF.
The receiver position, ephemeris, almanac, TCXO offset and other information required for
hot start are included in the backup data, and by saving the backup data in the flash
memory using this command, hot start can be initiated when the system is booted from

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Argument: None
5. Backup data clear
Syntax
Response
@BUPC
[BUPC] Done
This command is used to clear the backup data saved in the flash memory by @BUP.
This command must be issued at Idle state and the automatic backup data save function
disabled.
Argument: None
6. UART0 baud rate setting
Syntax
Response
@CSBR <arg 1>
[CSBR] Done
This command is used to set the UART0 baud rate of the RYS8830.
When the command is executed successfully, UART0 is changed to the baud rate specified
by the argument. Therefore, ensure that the Done response is received at the original baud
rate. When the command has failed, the original baud rate is not changed. In the default
status, the baud rate is set to 115200 bps.
Argument:
Field
Description
arg 1
The baud rate is specified using an integer. The unit used is bps. Specify
one of the following as the baud rate.
4800, 9600, 14400, 19200, 38400, 57600, 115200, 230400, 460800
(Default value: 115200)
7. Flash memory erase
Syntax
Response
@FER
[FER] Done
This command is used to erase the program on the flash memory. The RYS8830 re-start
after this command issued in special mode.
This command must be issued at “Idle” mode.
Argument: None
power OFF. (The time must be injected.)
This command must be issued at Idle state. When this command is issued at Exec state,
error is returned.

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8. GPS almanac data acquisition
Syntax
Response
@GALG
[GALG] Done
This command is used to acquire the GPS almanac data received by RYS8830. When the
command is received, the RYS8830 transmits the GPS almanac data (binary data) to the host
controller.
The GPS almanac data size is 2048 bytes. In addition, the data which is actually transferred
has the header and footer added.
This command must be issued at “Idle” mode.
Argument: None
9. GPS almanac data injection
Syntax
Response
@GALS
[GALS] Done
[GALS] Ready
This command is used to inject the GPS almanac data into the RYS8830. Transmit the GPS
almanac data (binary data) following the Ready response from the RYS8830.
The GPS almanac data size is 2048 bytes. In addition, the data which is actually required has
the header and footer added.
This command must be issued at “Idle” mode.
Argument: None
10. Cold start
Syntax
Response
@GCD
[GCD] Done
This command is used to start the positioning with cold start.
Argument: None
11. GPS ephemeris data acquisition
Syntax
Response
@GEMG
[GEMG] Done
This command is used to acquire the GPS ephemeris data which has been received by the
RYS8830. When the command is received, the RYS8830 transmits the GPS ephemeris data
(binary data) to the host controller.
The GPS ephemeris data size is 3072 bytes. In addition, the data which is actually transferred
has the header and footer added.
This command must be issued at “Idle” mode.
Argument: None

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12. GPS ephemeris data injection
Syntax
Response
@ GEMS
[GEMS] Done
[GEMS] Ready
This command is used to inject the GPS ephemeris data into the RYS8830. Transmit the GPS
ephemeris data (binary data) following the Ready response from the RYS8830.
The GPS ephemeris data size is 3072 bytes. In addition, the data which is actually required
has the header and footer added.
This command must be issued at “Idle” mode.
Argument: None
13. Positioning-use satellite setting
Syntax
Response
@GNS
[GNS] Done
This command is used to select the satellite systems to be used for positioning.
The satellite systems are assigned to the bits of the argument. “1” is set for the bits of the
systems which are to be used and “0” is set for the bits of the systems which are not be
used. Arguments can be specified in decimal or hexadecimal notation. With hexadecimal
notation, add “0x” in front of the numeral.
This command must be issued at “Idle” mode.
Argument:
Field
Description
arg 1
The satellite systems used for positioning are set on a bit by bit basis (0:
system not used, 1: system used).
bit 0 : GPS
bit 1 : GLONASS
bit 2 : SBAS
bit 3 : QZSS L1-CA
(Default value: 0x01)

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14. Receiver position setting (ellipsoidal coordinates)
Syntax
Response
@GPOE <arg 1> <arg 2> <arg 3> <arg 4> <arg
5> <arg 6>
[GPOE] Done
This command is used to set the approximate position of the receiver in the RYS8830. The
receiver position is set using ellipsoidal coordinates (latitude, longitude). The north latitude
and east longitude directions are “+” values so when specifying the receiver position
using a south latitude and west longitude, add a “-” (minus) sign in front to the values.
The receiver position, current time and TCXO offset value are required in order to initiate a
hot start so the receiver position must have been set in the RYS8830 prior to hot start using
this command. (This is not necessary if the position is backed up in the flash memory.)
Argument:
Field
Description
arg 1
This specifies the latitude (degrees) of the receiver using an integer.
arg 2
This specifies the latitude (minutes) of the receiver using an integer.
arg 3
This specifies the latitude (seconds) of the receiver using an integer.
arg 4
This specifies the longitude (degrees) of the receiver using an integer.
arg 5
This specifies the longitude (minutes) of the receiver using an integer.
arg 6
This specifies the longitude (seconds) of the receiver using an integer.
Examples of commands:
@GPOE 35 37 09 139 43 51<CR><LF> // North latitude 35°37’09”,east longitude 139°43’51”
@GPOE 33 07 19 -117 19 18<CR><LF> // North latitude 33°07’19”,west longitude 117°19’18”
15. Receiver position setting (ellipsoidal coordinates)
Syntax
Response
@GPOS <arg 1> <arg 2> <arg 3>
[GPOS] Done
This command is used to set the approximate position of the receiver in the RYS8830. This
command supports higher-accuracy position than @GPOE.
The receiver position is set using ellipsoidal coordinates (latitude, longitude) and altitude.
The north latitude and east longitude directions are “+” values so when specifying the
receiver position using a south latitude and west longitude, add a “-” (minus) sign in front
to the values.
The receiver position, current time and TCXO offset value are required in order to initiate a
hot start so the receiver position must have been set in the RYS8830 prior to hot start using
this command. (This is not necessary if the position is backed up in the flash memory.)

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Argument:
Field
Description
arg 1
This specifies the latitude (degrees) * 106 of the receiver using an integer.
e.g. 43.123456 degrees north: set “43123456”.
arg 2
This specifies the longitude (degrees) *106 of the receiver using an integer.
e.g.139.789000 degrees east: set “139789000”.
arg 3
This specifies the altitude * 10 of the receiver using an integer.
e.g. 102.0m : set “1020”.
Examples of commands:
@GPOS 35123456 139987650 0<CR><LF> // North latitude 35.123456 degree,
// east longitude 139.987650 degree,
// altitude 0m
@GPOS 33070710 -117121310 -15<CR><LF> // North latitude 33.070710 degree,
// west longitude 117.121310 degree,
// altitude -1.5m
16. 1PPS output setting
Syntax
Response
@GPPS <arg 1>
[GPPS] Done
This command is used to control 1PPS output.
When 1PPS output is enabled, timing pulse is output in 1 sec period from 1PPS output port
after clock information being received from GNSS. When 1PPS output is disabled, timing
pulse is not output from 1PPS output port.
Argument:
Field
Description
arg 1
1PPS output control
0 : Disable 1PPS output (default value)
1 : Enable 1PPS output
17. TCXO offset acquisition
Syntax
Response
@GPTC
[GPTC] Done
This command is used to acquire the TCXO offset value measured by the RYS8830. When
the command is received, the RYS8830 transmits the TCXO offset value (ASCII data) . The
unit of the TCXO offset value is “Hz” and the sign (+ or -) is added at the top. The value
converted by GPS L1 frequency is acquired. When getting TCXO frequency offset, this value
must be multiplied by (-1 * Nominal frequency of TCXO) / 1575420000. When the TCXO
offset has not been calculated, the text “INVALID” returns.
Argument: None

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18. Operation mode setting
Syntax
Response
@ GSOP <arg 1> <arg 2> <arg 3>
[GSOP] Done
This command is used to set the operation mode of the RYS8830. The operation mode and
positioning cycle can be specified.
The sleep time can be specified but only when the Normal mode has been specified. The
positioning operation is performed during the remaining time of the positioning cycle after
operation has transferred to the Sleep state for the time specified with each specified
positioning cycle. When the fix is not valid, some satellites are tracked and the operation
time (equal to the positioning cycle minus the sleep time) is less than 1 minute, the RYS8830
doesn’t transit to the Sleep state in this usage. If the sleep time must be kept certainly, set
the parameters so that the operation time may be 1 minute or more.
When the Low power mode is used, set the positioning cycle to the value over 30sec.
Argument:
Field
Description
arg 1
This specifies the operation mode of the receiver.
1 : Normal (default value)
2 : Low Power
arg 2
This specifies the positioning cycle [ms] using an integer. (Default value:
1000)
arg 3
This specifies the sleep time [ms] in the Normal mode using an integer.
When “0” is specified, the sleep operation is not performed, and
positioning is executed continuously.
In modes other than Normal, this is an invalid parameter. (Default value: 0)
Examples of commands:
@GSOP 1 3000 0<CR><LF> // Normal mode, positioning cycle of 3 seconds (no sleep
// operation)
@GSOP 1 10000 5000<CR><LF> // Normal mode, positioning cycle of 10 seconds (sleep
// time of 5 seconds)
// (The pattern of a sleep time of 5 seconds and the
// positioning operation of 5 seconds is repeated.)
@GSOP 2 30000 0<CR><LF> // Low power mode, positioning cycle of 30 seconds

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19. Hot start for position accuracy
Syntax
Response
@GSP
[GSP] Done
This command is used to start positioning using a hot start. The position accuracy is
prioritized until first fix. TTFF is about 1s longer than @GSR. There is no difference with
@GSR after first fix.
When the conditions for the hot start have not been met, positioning is started
automatically using a warm start or cold start.
Argument: None
20. Hot start for TTFF
Syntax
Response
@ GSR
[GSR] Done
This command is used to start positioning using a hot start. The TTFF is prioritized until first
fix. TTFF is about 1s shorter than @GSP but the position accuracy is somewhat worse than
@GSP. There is no difference with @GSP after first fix.
When the conditions for the hot start have not been met, positioning is started
automatically using a warm start or cold start.
Argument: None
21. Positioning stop
Syntax
Response
@GSTP
[GSTP] Done
This command is used to stop the positioning. The RYS8830 transfers to the Idle state.
Argument: None
22. Warm start
Syntax
Response
@GSW
[GSW] Done
This command is used to start positioning using a warm start. When the conditions for the
warm start have not been met, positioning is started automatically using a cold start.
Argument: None

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23. TCXO offset setting
Syntax
Response
@GTCX <arg 1>
[GTCX] Done
This command is used to set the TCXO offset value of the receiver in the RYS8830. The TCXO
offset value of the receiver is set in Hz. The “+” or “-” direction can be specified by
adding a sign to the argument.
The receiver position, current time and TCXO offset value are required in order to initiate a
hot start so the time must have been set in the RYS8830 prior to hot start using this
command (This is not necessary if the time is backed up on the flash memory).
Argument:
Field
Description
arg 1
The TCXO offset value (Hz) is set using an integer. (Default value: 0)
Examples of commands:
@GTCX -250<CR><LF> // TCXO offset: -250Hz
@GTCX 100<CR><LF> // TCXO offset: +100Hz
24. GPS test end
Syntax
Response
@ GTE
[GTE] Done
This command is used to end the GPS test. When the test is ended using the command, the
CXD5600GF returns to the state in which normal commands can be received.
Argument: None
25. Time setting
Syntax
Response
@ GTIM <arg 1> <arg 2> <arg 3> <arg 4> <arg
5> <arg 6>
[GTIM] Done
This command is used to set the time of the receiver in the RYS8830. The UTC time standard
is used for the receiver time which employs the format of year, month, day, hours, minutes
and seconds.
The receiver position, current time and TCXO offset value are required in order to initiate a
hot start so the time must have been set in the RYS8830 prior to hot start using this
command.
Argument:
Field
Description
arg 1
This specifies the UTC time (year) using an integer.
arg 2
This specifies the UTC time (month) using an integer.

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arg 3
This specifies the UTC time (day) using an integer.
arg 4
This specifies the UTC time (hour) using an integer.
arg 5
This specifies the UTC time (minutes) using an integer.
arg 6
This specifies the UTC time (seconds) using an integer.
Examples of commands:
@GTIM 2013 02 01 13 30 30<CR><LF> // 2013/2/1 13:30:30
@GTIM 2013 07 10 00 00 00<CR><LF> // 2013/7/10 00:00:00”
26. GPS test result output
Syntax
Response
@ GTR
[GTR] Done
This command is used to output the GPS test results. Wait one second after the @GTS
command is issued, and then issue the command.
The CN level and Doppler frequency are returned as the test results.
Argument: None
27. GPS test start
Syntax
Response
@ GTS <arg 1> <arg 2> <arg 3> <arg 4>
[GTS] Done
This command is used to start the GPS test. The test results are output by issuing the @GTR
command after a wait of one second after the @GTS command has been issued.
This command can be issued only in the Idle state. When it is issued, no subsequent
commands except for the @GTR and @GTE commands are accepted.
Argument:
arg 1
This specifies the number of the satellite used for the test.
arg 2
Reserved．Always specify “0” for this.
arg 3
Reserved．Always specify “0” for this.
arg 4
Reserved．Always specify “0” for this.
Examples of commands:
@GTS 1 0 0 0<CR><LF> // The test is started using satellite no.1.

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28. Positioning algorithm setting
Syntax
Response
@GUSE <arg 1>
[GUSE] Done
This command is used to select the GNSS positioning algorithm for the special use case.
In normal use case, select the default algorithm by setting “0x00” for the argument. When
the special algorithm should be used, set the appropriate bits.
This command must be issued at “Idle” mode.
Argument:
Field
Description
arg 1
GNSS positioning algorithm are set on a bit by bit basis (0: not used, 1:
used).
bit 0 : Special algorithm for swinging the receiver by thehand.
bit 1 : reserved (always specify ”0” for this)
bit 2 : reserved (always specify ”0” for this)
bit 3 : reserved (always specify ”0” for this)
bit 4 : reserved (always specify ”0” for this)
bit 5 : reserved (always specify ”0” for this)
bit 6 : reserved (always specify ”0” for this)
bit 7 : reserved (always specify ”0” for this)
(Default value: 0x01)
29. GLONASS almanac data acquisition
Syntax
Response
@ LALG
[LALG] Done
This command is used to acquire the GLONASS almanac data received by RYS8830. When
the command is received, the RYS8830 transmits the GLONASS almanac data (binary data)
to the host controller.
The GLONASS almanac data size is 576 bytes. In addition, the data which is actually
transferred has the header and footer added.
This command must be issued at “Idle” mode.
Argument: None

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30. GLONASS almanac data injection
Syntax
Response
@ LALS
[LALS] Done
[LALS] Ready
This command is used to inject the GLONASS almanac data into the RYS8830. Transmit the
GLONASS almanac data (binary data) following the Ready response from the RYS8830.
The GLONASS almanac data size is 576 bytes. In addition, the data which is actually required
has the header and footer added.
This command must be issued at “Idle” mode.
Argument: None
31. GLONASS ephemeris data acquisition
Syntax
Response
@ LEMG
[LEMG] Done
This command is used to acquire the GLONASS ephemeris data which has been received by
RYS8830. When the command is received, the RYS8830 transmits the GLONASS ephemeris
data (binary data) to the host controller.
The GLONASS ephemeris data size is 1152 bytes. In addition, the data which is actually
transferred has the header and footer added.
This command must be issued at “Idle” mode.
Argument: None
32. GLONASS ephemeris data injection
Syntax
Response
@LEMS
[LEMS] Done
[LEMS] Ready
This command is used to inject the GLONASS ephemeris data into the RYS8830. Transmit
the GLONASS ephemeris data (binary data) following the Ready response from the
RYS8830.
The GLONASS ephemeris data size is 1152 bytes. In addition, the data which is actually
required has the header and footer added.
This command must be issued at “Idle” mode.
Argument: None

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33. Sleep
Syntax
Response
@ SLP <arg 1>
[SLP] Done
This command is used to transfer operation to the Sleep state. It specifies transfer to each
sleep state using an argument. The status at sleeping differs according to Sleep states.
State
Main RAM
Backup RAM
RTC
After wake up
Sleep 0
Retained
Retained
Operation
Re-start with previous setting
Sleep 1
OFF
Retained
Operation
Reboot
Sleep 2
OFF
OFF
Operation
Reboot
Argument:
Field
Description
arg 1
This selects whether to transfer to the Sleep state or Deep Sleep state. 0:
Transfer to Sleep 0. 1: Transfer to Sleep 1. 2: Transfer to Sleep 2.
34. Firmware revision number acquisition
Syntax
Response
@VER
“xxxx”<CR><LF>(ASCII)
This command is used to acquire the revision number of the firmware.
Argument: None
35. Wake-up
Syntax
Response
@ WUP
[WUP] Done
This command is used to transfer to the Idle state from the Sleep state.
When this command has been issued in the Sleep state, the command reply message is not
output until the transfer to the Idle state is completed. Repeatedly issue this command until
the command reply message is output.
Argument: None

Copyright ©2020, REYAXTECHNOLOGY CO.,LTD.
20
RYS8830 RYS 8833
`GNSS Module Software Guide
NMEA sentence specifications
This section describes the specifications of NMEA sentences. RYS8830 outputs NMEA0183 compliant
sentences, IMES sentences and proprietary sentences whose talker ID is “$PS”.
1. GGA : Global Positioning System Fix Data
Format:$--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF>
Field
Format
Description
Header
$
Talker ID
--
GP
Sentence ID
GGA
UTC of position
hhmmss.ss
hh [hour] mm [min] ss.ss [sec]
Latitude
llll.ll
dd [degree] mm.mmmm [min]
Latitude –N/S
a
N : North latitude, S : South latitude
Longitude
yyyyy.yy
ddd [degree] mm.mmmm [min]
Longitude –E/W
a
E : East longitude, W : West longitude
Quality indicator
x
0：Fix not available
1：Fix valid
2：Fix valid, Differential GPS
6 : Dead reckoning
Number of satellites in use
xx
HDOP
x.x
Altitude (mean-sea-level),
meters
x.x,M
[m]
Geoidal separation, meters
x.x,M
[m]
Age of DGPS data
x.x
NULL
Differential reference station
ID
xxxx
NULL
Checksum
*hh
Termination
<CR><LF>