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4.2.2

Transmitted Time

The GPS sensor outputs UTC (Coordinated Universal Time) date and time of day in the transmitted

sentences. Before the initial position fix, the on-board clock provides the date and time of day. After the

initial position fix, the date and time of day are calculated using GPS satellite information and are

synchronized with the one-pulse-per-second output.

The GPS sensor uses information obtained from the GPS satellites to add or delete UTC leap seconds and

correct the transmitted date and time of day. The transmitted date and time of day for leap second

correction follow the guidelines in National Institute of Standards and Technology Special Publication 432

(Revised 1990). This document is for sale by the Superintendent of Documents, U.S. Government Printing

Office, Washington, D.C., 20402, U.S.A.

When a positive leap second is required, one second is inserted at the beginning of the first hour (0h 0m 0s)

of the day that the positive leap is occurring. The minute containing the leap second is 61 seconds long. The

GPS sensor would have transmitted the following information for the leap second added December 31,

1998:

$GPRMC,235959,A,3851.3651,N,09447.9382,W,000.0,221.9,071103,003.3,E*69

$GPRMC,000000,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*67

$GPRMC,000001,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*66

If a negative leap second should be required, one second will be deleted at the end of some UTC month.

The minute containing the leap second will be only 59 seconds long. In this case, the GPS sensor will not

transmit the time of day 0h 0m 0s (the "zero" second) for the day from which the leap second is removed.

$GPRMC,235959,A,3851.3650,N,09447.9373,W,000.0,000.0,111103,003.3,E*69

$GPRMC,000001,A,3851.3650,N,09447.9373,W,000.0,000.0,121103,003.3,E*6A

$GPRMC,000002,A,3851.3650,N,09447.9373,W,000.0,000.0,121103,003.3,E*69

4.2.3

Global Positioning System Almanac Data (ALM)

Almanac sentences are not normally transmitted. Almanac transmission can be initiated by sending the

GPS sensor a $PGRMO,GPALM,1 command. Upon receipt of this command, the GPS sensor will transmit

available almanac information on GPALM sentences. During the transmission of almanac sentences, other

NMEA 0183 data output will be suspended temporarily.

$GPALM,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>,<15>*hh<CR><LF>

<field information> can be found in Section

4.2.4

Global Positioning System Fix Data (GGA)

$GPGGA,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,M,<10>,M,<11>,<12>*hh<CR><LF>

<1>

UTC time of position fix, hhmmss format

<2>

Latitude, ddmm.mmmm format (leading zeros will be transmitted) (The GPS 16A reports the

decimal fraction of minutes with 5 digits of precision)

<3>

Latitude hemisphere, N or S

<4>

Longitude, dddmm.mmmm format (leading zeros will be transmitted) (The GPS 16A reports

the decimal fraction of minutes with 5 digits of precision)

<5>

Longitude hemisphere, E or W

<6>

GPS quality indication, 0 = fix not available, 1 = Non-differential GPS fix available, 2 =

Differential GPS (DGPS) fix available, 6 = Estimated (only output if NMEA 0183 version 2.30

active)

<7>

Number of satellites in use, 00 to 12 (leading zeros will be transmitted)

<8>

Horizontal dilution of precision, 0.5 to 99.9

<9>

Antenna height above/below mean sea level, -9999.9 to 99999.9 meters

<10>

Geoidal height, -999.9 to 9999.9 meters

<11>

Differential GPS (RTCM SC-104) data age, number of seconds since last valid RTCM

transmission (null if not an RTCM DGPS fix)

<12>

Differential Reference Station ID, 0000 to 1023 (leading zeros will be transmitted, null if not an

RTCM DGPS fix)

190-00228-20

4.1.1 Almanac Information

GPS 16/17 Technical Specifications

Page 17

(ALM).

Rev. C