# Protocol description of available sentences

IX_BLUE

    $PTSAG,#NNNNN,hhmmss.sss,jj,mm,aaaa,BBB,DDMM.MMMM,H,DDDMM.MMMM,D,A,MMMM.M,A, MMMM.M*hh<CR><LF>
    $PTSAG,<frame number>,<time>,<day>,<month>,<year>,<beacon id>,<latitude>,<hemisphere>,<longitude>,<direction>,<validity>,<calculated depth>,<sensor depth>*hh<CR><LF>

    $PTSAH,0,DDD.DD,SS.SS*hh<CR><LF>
    $PTSAH,0,<heading>,<SOG>*hh<CR><LF>

    $HEHDT,x.xxx,T*hh<CR><LF>
    $HEHDT,<heading>,T*hh<CR><LF>

Filter id: <beacon>

PISE

    $PISE,AUV,49.234567,-122.543211,20030716,122554,1,0000,074,0048,02.3*7d
    $PISE,<source>,<Latitude>,<Longitude>,<date>,<time>,<position_source>,<false>,<heading>,<depth>,<speed>*hh<CR><LF>

Filter id: <source>

MINIPOS

    $PSAAS,101301.06,5832.74,N,01458.52,E,176.3,4.3,4.8,1.20,-1.00,-0.30*54<CR><LF>
    $PSAAS,<time>,<latitude>,<hemisphere>,<longitude>,<direction>,<depth>,<altitude>,<heading><velforw>,<velport>,<velup>*hh<CR><LF>

GPS

  https://www.gpsinformation.org/dale/nmea.htm

Filter id: <talker>

RANGER2

    $PSONLLD,153005.253,24,A,50.02495,8.873323,425.3,,,,,,,,*3e<CR><LF>
    $PSONLLD,<time>,<id>,<status>,<latitude>,<longitude>,<depth>,,,,,,,,*hh<CR><LF>

Filter id: <id>

    $PSONALL,Ship 1,CRP,134446.175,650879.00,5688874.16,0.00,180.00,,G,0.00,0.00,,0.109,0.001*51<CR><LF>
    $PSONALL,<name>,<offset>,<time>,<easting>,<northing>,<depth>,<heading>,<CMG>,<heading type>,<pitch>,<roll>,<velocity>,<pos accuratcity>,<depth accuracity>*hh<CR><LF>

Filter id: <name>

Using the position of this sentence requires a suitable CRS with the matching UTM-zone. The sentence does not provide zone information.

CP16

    $PCI,<depth meter>,<depth feet>,<heading>,<CP data>,<pitch>,<roll><CR><LF>
    $PCI,<depth meter>,<depth feet>,<heading>,<CP data>,<pitch>,<roll><CR><LF>

AIS

  http://catb.org/gpsd/AIVDM.html

MARUM

    $PMTMGPO,HROV,020718,092343.92,-53.1234567,-152.1234567,P,0234.5,018.2,270*3B<CR><LF>
    $PMTMGPO,<sender>,<date: ddmmyy>,<time: hhmmss[.ms]>,<Latitude>,<Longitude>,<position_source>,<depth>,<altitude>,<heading>*hh<CR><LF>

    $PMTMATT,HROV,1.2,3.5,273.4*6F<CR><LF>
    $PMTMATT,<sender>,<pitch>,<roll>,<heading>*<checksum><CR><LF>

    $PMMTSPD,HROV,0.4,0.6,0.3*6F<CR><LF>
    $PMTMSPD,<sender>,<forward_speed><port_speed><up_speed><CR><LF>

Filter id: <sender>

TARGET_POS

    <target>,<latitude>,<longitude>[,<depth>,<altitude>,<heading>]<CR><LF>
    person1,53.625827,8.736457<CR><LF>

Filter id: <target>

COMPASS

    $C<heading>P<pitch>R<roll>[optional key/value pairs]<CR><LF>
    $C347.0P2.5R-1.8<CR><LF>

    $--HDM,<heading>,<magnetic>*hh<CR><LF>
    $HCHDM,20.73,M*03

    $--HDT,heading,<true>*hh<CR><LF>
    $HCHDT,212.4,T*2C

MOOS_NODEREPORT

    NAME=alpha,TYPE=UUV,TIME=1252348077.59,X=51.71,Y=-35.50,LAT=43.824981,LON=-70.329755,
    SPD=2.00,HDG=118.85,YAW=118.84754,DEP=4.63,LENGTH=3.8,MODE=MODE@ACTIVE:LOITERING

https://oceanai.mit.edu/ivpman/pmwiki/pmwiki.php?n=IvPTools.PNodeReporter

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