$HEROT,x.x,A*cc<CR><LF>
Where ‘x.x’ is the rate of turn in degrees per minute and ‘A’ is a flag
indicating that the data is valid. The ‘x.x’ field is negative when the vessel
bow turns to port.
2.14 HPR Data Message
The $PSAT,HPR message is a proprietary NMEA sentence that provides the
heading, pitch / roll information, and time in a single data message. This
message has the following format.
$PSAT,HPR,time,heading,pitch,roll,x*7B<CR><LF>
Table 2-13 HPR Data Message Defined
Field Description
time GPS time (HHMMSS.SS)
heading Heading (degrees)
pitch Pitch (degrees)
roll Roll (degrees)
x N when GPS is used to compute heading and G
when gyro is being used to compute heading.
2.15 $PSAT,GBS Data Message
The GBS message is used to support Receiver Autonomous Integrity
Monitoring (RAIM). In Table 2-14, the GBS data message is broken down
into its components. This message takes the following form:
$PSAT,GBS,hhmmss.ss,ll.l,LL.L,aa.a,ID,p.ppppp,b.b,s.s,flag*cc
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