Format Of Nmea Sentence Outputs - Honeywell HMR3000 User Manual

HMR3000 User's Guide

3.10 Format of NMEA Sentence Outputs

HDG Heading, Deviation, & Variation
$HCHDG,x.x,x.x,a,x.x,a*hh<cr><lf>
If either the deviation or variation parameter has not been programmed, the corresponding field will be null (per NMEA
0183 version 2.1, section 5.2.2.3). Parameters have not been programmed if their absolute values are greater than 3200
mils or 180.0 degrees. Positive deviation and variation is indicated by a = E; negative values by a = W. Heading field will
be null if it cannot be calculated (see HPR proprietary sentence). NMEA requires that units for heading measurement be
degrees.
Eg. In Degree Mode
$HCHDG,85.8,0.0,E,0.0,E*77
$HCHDG,271.2,0.0,E,0.0,E*44
$HCHDG,271.1,10.7,E,12.2,W*52
$HCHDG,0.0,10.7,E,12.2,W*57
Mil Mode is not allowed by NMEA standard
HDT Heading, True
$HCHDT,x.x,T*hh<cr><lf>
The heading field will be null if variation has not been programmed (see HDG and Definitions), or if heading cannot be
calculated. If deviation has not been programmed, it is assumed to be zero, otherwise it is added to measured heading
and variation to express true heading of compass board.
Eg. In Degree Mode
$HCHDT,86.2,T*15
$HCHDT,271.1,T*2C
$HCHDT,0.9,T*20
Mil Mode not allowed by NMEA standard
XDR Transducer Measurements
$HCXDR,A,x.x,D,PITCH,A,x.x,D,ROLL,G,x.x,,MAGX,G,x.x,,MAGY,
G,x.x,,MAGZ,G,x.x,,MAGT*hh<cr><lf>
Each of the six possible measurements - pitch; roll; and magnetic x, y, z, and total—can be individually included in or
excluded from the message (see "XDR has ..." parameters). See NMEA 0183 for a detailed description of the "Type-Data-
Units-ID" field encoding. The "Data" field of an included measurement will be null if its contents cannot be determined due
to saturated measurements. Only units of degrees are allowed by NMEA for pitch and roll measurements.
Magnetic measurements are transmitted in engineering units (milli Gauss) determined by a tunable conversion factor.
MAGX aligns with the compass board north-south axis, and MAGZ is perpendicular to the plane of the compass board.
MAGT is the total magnetic field strength determined by calculating the square root of the sum of the squares of MAGX,
MAGY, and MAGZ.
Eg. In Degree Mode
$HCXDR,A,-0.8,D,PITCH,A,0.8,D,ROLL,G,122,,MAGX,G,1838,,MAGY,G,-
667,,MAGZ,G,1959,,MAGT*11
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