Compatible Incoming NMEA Sentences

Scala2 can decode and use the following types of NMEA sentences coming from external devices (GPS, winch system, sounder...).

NMEA 0183 Standard Sentences

Symbol (*) indicates which parts of the sentence Scala2 uses.

NMEA Sentence Format First compliant version of Scala
DBK - Depth Below Keel $--DBK,a.a,F,b.b,M,c.c,F*hh<CR><LF>
  1. $--: Talker identifier*
  2. DBK: Sentence formatter*
  3. a.a,F: Depth, feet
  4. b.b,M: Depth, meters*
  5. c.c,F: Water depth, fathoms
  6. *hh: Checksum*
 1.4.0.0
DBT - Depth Below Transducer $--DBT,a.a,F,b.b,M,c.c,F*hh<CR><LF>
  1. $--: Talker identifier*
  2. DBT: Sentence formatter*
  3. a.a,F: Water depth, feet*
  4. b.b,M: Water depth, meters*
  5. c.c,F: Water depth, fathoms*
  6. *hh: Checksum*
 1.2.0.0
DPT - Depth $--DPT,a.a,b.b,c.c*hh<CR><LF>
  1. $--: Talker identifier*
  2. DPT: Sentence formatter*
  3. a.a: Water depth relative to the transducer, meters*
  4. b.b: Offset from transducer, meters (positive = distance from transducer to water line; negative = distance from transducer to keel)*
  5. c.c: Maximum range scale in use
  6. *hh: Checksum*
 1.0.0.0
GGA - Global Positioning System Fix Data $--GGA,hhmmss.ss,aaaa.aa,b,cccc.cc,d,e,ff,g.g,h.h, M,i.i,M,j.j,kkkk*hh<CR><LF>
  1. $--: Talker identifier*
  2. GGA: Sentence formatter*
  3. hhmmss.ss: UTC of position*
  4. aaaaa.aa, b: Latitude North/South (N/S)*
  5. cccc.cc, d: Longitude East/West (E/W)*
  6. e: GPS quality indicator
  7. ff: Number of satellites in use (00-12)
  8. g.g: Horizontal dilution of precision
  9. h.h, M: Antenna altitude above/below mean sea level (geoid), meters*
  10. i.i, M: Geoidal separation, meters
  11. j.j: Age of differential GPS data
  12. kkkk: Differential reference station ID
  13. *hh: Checksum*
 1.0.0.0
GLL - Geographic Position - Latt/Long $--GLL, aaaa.aa,L,bbbbb.bb,L,hhmmss.ss,C,d*hh<CR><LF>
  1. $--: Talker identifier*
  2. GLL: Sentence formatter*
  3. aaaa.aa,L: Latitude North/South (N/S)*
  4. bbbbb.bb,L: Longitude East/West (E/W)*
  5. hhmmss.ss: UTC of position*
  6. C: status (A= data valid / V: data not valid)*
  7. d: Mode indicator
  8. *hh: Checksum*
 1.2.6.0
GNS - GNSS Fix Data $--GNS,hhmmss.ss,aaa.aa,L,bbbbb.bb,L,c--c, dd,e.e,f.f,g.g,h.h,i.i,a*hh<CR><LF>
  1. $--: Talker identifier*
  2. GNS: Sentence formatter*
  3. hhmmss.ss: UTC of position*
  4. aaaa.aa,L: Latitude North/South (N/S)*
  5. bbbbb.bb,L: Longitude East/West (E/W)*
  6. c--c: Mode indicator
  7. dd: Total number of satellites in use (00-99)
  8. e.e: Horizontal dilution of precision
  9. f.f: Antenna altitude above/below mean sea level (geoid), in meters*
  10. g.g: Geoidal separation, meters
  11. h.h: Age of differential data
  12. i.i: Differential reference station ID
  13. *hh: Checksum*
 1.0.0.0
HDG - Heading, Deviation & Variation $--HDG,a.a,b.b,M,c.c,M*hh<CR><LF>
  1. $--: Talker identifier*
  2. HDG: Sentence formatter*
  3. a.a: Sensor magnetic heading (degrees)*
  4. b.b,M: Magnetic deviation (degrees), Easterly/Westerly (E/W)*
  5. c.c,M: Magnetic variation (degrees), Easterly/Westerly (E/W)*
  6. *hh: Checksum*
 1.0.0.0
HDT - Heading, True $--HDT,a.a,T*hh<CR><LF>
  1. $--: Talker identifier*
  2. HDT: Sentence formatter*
  3. a.a,T: Heading (degrees) True*
  4. *hh: Checksum*
 1.0.0.0
MTW - Water Temperature $--MTW,a.a,C*hh<CR><LF>
  1. $--: Talker identifier*
  2. MTW: Sentence formatter*
  3. a.a,C: Temperature, degrees C*
  4. *hh: Checksum*
 1.4.0.0
MWD - Wind Direction & Speed $--MWD, a.a,T,b.b,M,c.c,N,d.d,M*hh<CR><LF>
  1. $--: Talker identifier*
  2. MWD: Sentence formatter*
  3. a.a,T: Wind direction, 0° to 359° true*
  4. b.b,M: Wind direction, 0° to 359° magnetic*
  5. c.c,N: Wind speed, knots*
  6. d.d,M: Wind speed, meters/second*
  7. *hh: Checksum*
 1.6.0.0
MWV - Wind Speed & Angle $--MWV,a.a,b,c.c,d,E *hh<CR><LF>
  1. $--: Talker identifier*
  2. MWV: Sentence formatter*
  3. a.a: Wind angle, 0 to 359 degrees*
  4. b: Reference, R = relative, T = true*
  5. c.c: Wind speed*
  6. d: Wind speed units, K = km/h, M = m/s, N = knots*
  7. E: Status, A = data valid V= data invalid*
  8. *hh: Checksum*
 1.0.0.0
RMC - Recommended Minimum Navigation Information $--RMC,aaaaaa,A,bbbb.bbb,B,ccccc.ccc,C,ddd.d,eee.e, ffffff,ggg.g,G,H*hh<CR><LF>
  1. $--: Talker identifier*
  2. RMC: sentence formatter*
  3. aaaaaa: Time (UTC)*
  4. A: Status, A = data valid, V = navigation receiver warning*
  5. bbbb.bbb, B: Latitude, N/S*
  6. ccccc.ccc, C: Longitude, E/W*
  7. ddd.d: Speed over ground (knots)*
  8. eee.e: Course Over Ground (degrees True)*
  9. ffffff: Date: ddmmyy*
  10. ggg.g, G: Magnetic variation (degrees E/W)*
  11. H: mode indicator: A=Autonomous, D=Differential, E=Estimated, M=Manual input, S=Simulator, N=data not valid (sentence is not accepted if mode indicator = N)*
  12. *hh: Checksum*
 2.2.2.0
VBW - Dual Ground/Water Speed $--VBW,a.a,b.b,A,c.c,d.d,A,e.e,A,f.f,A*hh<CR><LF>
  1. $--: Talker identifier*
  2. VBW: Sentence formatter*
  3. a.a: Longitudinal water speed (knots), "-" = astern*
  4. b.b: Transverse water speed, "-" = port*
  5. A: Status, A = data valid, V = data invalid*
  6. c.c: Longitudinal ground speed, "-" = astern*
  7. d.d: Transverse ground speed, "-" = port*
  8. A: Status, A = data valid, V = data invalid*
  9. e.e: Stern Transverse water speed, "-" = port*
  10. A: Status, A = data valid, V = data invalid*
  11. f.f: Stern Transverse ground speed, "-" = port*
  12. A: Status, A = data valid, V = data invalid*
  13. *hh: Checksum*
 1.4.0.0
VHW - Water Speed and Heading $--VHW,a.a,T,b.b,M,c.c,N,d.d,K*hh<CR><LF>
  1. $--: Talker identifier*
  2. VHW: Sentence formatter*
  3. a.a,T: Heading, degrees True*
  4. b.b,M: Heading, degrees Magnetic*
  5. c.c,N: Speed, knots*
  6. d.d,K: Speed, km/hr
  7. *hh: Checksum*
 1.4.0.0
VLW - Dual Ground/Water Distance $--VLW,a.a,N,b.b,N,c.c,N,d.d,N*hh<CR><LF>
  1. $--: Talker identifier*
  2. VLW: Sentence formatter*
  3. a.a,N: Total cumulative water distance, nautical miles*
  4. b.b,N: Water distance since reset, nautical miles*
  5. c.c,N: Total cumulative ground distance, nautical miles*
  6. d.d,N: Ground distance since reset, nautical miles*
  7. *hh: Checksum*
 1.3.3.0
VTG - Course Over Ground and Ground Speed $--VTG,a.a,T,b.b,M,c.c,N,d.d,K*hh<CR><LF>
  1. $--: Talker identifier*
  2. VTG: Sentence formatter*
  3. a.a,T: Course over ground, degrees, True*
  4. b.b,M: Course over ground, degrees, Magnetic
  5. c.c,N: Speed over ground, knots*
  6. d.d,K: Speed over ground, km/hr*
  7. *hh: Checksum*
 1.3.3.0
VWR - Relative (Apparent) Wind Speed and Angle $--VWR,a.a,L,b.b,N,c.c,M,d.d,K*hh<CR><LF>
  1. $--: Talker identifier*
  2. VWR: Sentence formatter*
  3. a.a,L: Relative Wind angle, 0 to 180 degrees, Left or Right (L/R)*
  4. b.b,N: Wind speed, knots
  5. c.c,M: Wind speed, meters/second
  6. d.d,K: Wind speed in Km/Hr
  7. *hh: Checksum*
 1.3.3.0

Proprietary Sentences

Symbol (*) indicates which parts of the sentence Scala2 uses.

Sentence Format First compliant version of Scala2
ATW - Naust Marine winch control system $NMATW,aaaaaa,bbbbbb,cccccc,dddddd,eeeeee,ffffff, ggggg,hhhhh,iiiii,jjjjj,kkkkk,lllll,mm:mm*hh <CR><LF>

$NMATW: Talker identifier + sentence formatter*

a. Winch starboard tension (kg)*

b. Winch port tension (kg)*

c. Winch middle tension (kg)*

d. Winch starboard length (meter or feet)*

e. Winch port length (meter or feet)*

f. Winch middle length (meter or feet)*

g. RPM starboard

h. RPM port

i. RPM middle

j. Line speed starboard (meter or feet/min)

k. Line speed port (meter or feet/min)

l. Line speed middle (meter or feet/min)

m. Towing time (meter or feet/min)

 1.2.0.0
CON - Consumption, attitude of vessel (Silecmar) $SICON,aaa,bbb,cc,ddd,ee.e,ff.f*hh<CR><LF>
  1. $SICON: Talker identifier + sentence formatter*
  2. aaa: consumption of the main engine (L/H)*
  3. bbb: RPM of the main engine*
  4. cc: tilt of propeller’s blade (%)*
  5. ddd: Out temperature of the exhaust gases, Celsius degrees*
  6. ee.e: Vessel pitch, degrees*
  7. ff.f: Vessel roll, degrees*
 1.2.6.0
$SICON,aaa,bbb,cc,ddd,e.e*hh<CR><LF>
  1. $SICON: Talker identifier + sentence formatter*
  2. aaa: consumption of the main engine*
  3. bbb: RPM of the main engine*
  4. cc: tilt of propeller’s blade (%)*
  5. ddd: average trim angle of vessel, degrees*
  6. e.e: Out temperature of the exhaust gases, Celsius degrees*
 1.6.19.0
FEC - Furuno attitude message $PFEC,GPatt,aaa.a,bb.b,cc.c,*hh<CR><LF>
  1. $PFEC: Talker identifier + sentence formatter*
  2. GPatt: Global positioning attitude, sentence formatter
  3. aaa.a: Heading true*
  4. bb.b: Pitch*
  5. cc.c: Roll*
  6. *hh: Checksum*
 1.0.5.0
KW - Karmoy Winch $KWIN,a,b.b,T,c.c,M,d.d,rpm*hh<CR><LF>
  1. $KWIN: Talker identifier + sentence formatter*
  2. a: Winch 0 = Stbd / Trawl 1 = Port Trawl Winch
  3. b.b, T: Tensions (tons)
  4. c.c, M: Length (meters)
  5. d.d, rpm: Speed (rpm)
 1.6.25.0
MA DD - Marelec winch length and tension # MA DD dd/mm/yy hh:mm:ss LB aaaam LS bbbbm LM ccccm TB ddddK TS eeeeK TM ffffK gg<CR><LF>
  1. # MA DD: talker identifier*
  2. dd/mm/yy: date
  3. hh:mm:ss: time
  4. LB aaaam: Shooted length portside in meters*
  5. LS bbbbm: Shooted length starboard in meters*
  6. LM ccccm: Shooted length center in meters*
  7. TB ddddK: Tension of portside in kg*
  8. TS eeeeK: Tension of starboard in kg*
  9. TM ffffK: Tension of center in kg*
  10. gg: system in 00 = MANUAL (stop), 10 = auto shooting, 20 = auto fishing, 30 = auto hauling, 40 = slow tension alarm without propeller reduction, 41 = slow tension alarm with propeller reduction, 50 = fast tension alarm without propeller reduction, 51 = fast tension alarm with propeller reduction*
 1.2.0.0
MPT TXOR - Marport, transducer orientation

$PMPT,TXOR,aa.a,bb.b,cc.c,d*hh

  • $PMPT: talker identifier + sentence formatter.
  • TXOR: Transducer Orientation
  • aa.a: pitch*
  • bb.b: roll*
  • cc.c: yaw*
  • s: V = valid / N = not valid*
 2.0.0.0
NAV - Ifremer proprietary sentence $NANAV,04/09/yy,hhmmss.sss,NASYC,N,48,22.92315,W,004,28.90527, D,00.0,WG84,04/09/13, 13:05:37.000, COU,346.08,-00.22,+00.13,+00.00,+00052.172,000,0000 1.0.0.0
IFM - Ifremer versatile sentence $PIFM,EU,MES,dd/mm/yy,hh:hh:ss.sss,TRFUN,±a,bb,ccccc,dddd,e.e,f,ggggg,hhhh,i.i,j,<CR><LF>
  1. $PIFM: Talker identifier + sentence formatter*
  2. OCGYR: pitch, roll, heading
  3. TRFUN: winch lengths (starboard, port) and winch tensions (starboard, port)
 1.0.0.0
SYN - Winch Syncro 2020, winch length and tension $WMSYN,aaa.a,m,bbb.b,m,ccc.c,m,ddd.d,m,ee.e,t,ff.f, t,gg.g,t,hh.h,t,0.5,r,0.7,r,1.6,s,2.0,s,0,0,1,0,0, 45.5,c,33.0,p,32.8,p*31
  1. $WMSYN: Talker identifier + sentence formatter*
  2. aaa.a: winch starboard length in meters*
  3. bbb.b: winch inner starboard length in​ meters*
  4. ccc.c: winch inner port length in​ meters*
  5. ddd.d: winch port length in meters*
  6. ee.e: winch starboard tension in tons*
  7. ff.f: winch inner starboard tension in tons*
  8. gg.g: winch inner port tension in tons*
  9. hh.h: winch port tension in tons*
  10. Other strings are not used.
 1.0.0.0
$WMSYN,aaa.a,c,bbb.b,c,ccc.c,c,dd.d,t,ee.e,t,ff.f, t*hh<CR><LF>
  1. $WMSYN: Talker identifier + sentence formatter*
  2. aaa.a,l: Starboard wire length (m=meter)*
  3. bbb.b,l: Mid wire length (m=meter)*
  4. ccc.c,l: port wire length (m=meter)*
  5. dd.d,t: Starboard wire tension, tons*
  6. ee.e,t: Mid wire tension, tons*
  7. ff.f,t: Port wire tension, tons*
 1.6.19.0
TAWWL - RappHydema, PTS Pentagon warp length

@TAWWL,a,M,b,M,c,M*hh<CR><LF>

See below. M = meter

 1.4.4.0
@TAWWL,x,y,z*hh<CR><LF>
  1. @TAWWL: Talker identifier + sentence formatter*
  2. a: Starboard winch length*
  3. b: Port winch length*
  4. c: Middle winch length*
 1.6.19.0
TAWWT - RappHydema, PTS Pentagon warp tension

@TAWWT,a.a,T,b.b,T,c.c,T*hh<CR><LF>

See below. T = tons

 1.4.4.0
@TAWWT,a.a,b.b,c.c*hh<CR><LF>
  1. @TAWWT: Talker identifier + sentence formatter*
  2. a.a: Starboard winch tension*
  3. b.b: Port winch tension*
  4. c.c : Middle winch tension*
 1.6.19.0
WCT - Warp length and tension (Silecmar) $SIWCT,aaa,bbb,ccc,d.d,e.e,f.f*hh<CR><LF>
  1. $SIWCT: Talker identifier + sentence formatter*
  2. aaa: Port winch cable, meters*
  3. bbb: Starboard winch cable, meters*
  4. ccc: Clump winch cable, meters*
  5. d.d: Tension in the port winch, tons*
  6. e.e: Tension in the starboard winch, tons*
  7. f.f: Tension in the clump winch, tons*
  8. *hh: Checksum*
 1.2.6.0
WIDA1 - Kongsberg warp length (single to triple trawls) $WIDA1,aa,bbbb,cc,0,dd,eeee,ff,1,g,h,i,2,k,l,m,3 *hh<CR><LF>
  1. $WIDA1: Talker identifier + sentence formatter*
  2. aa: port wire tension, tons*
  3. bbbb: port wire out, meters*
  4. cc: port wirespeed, m/min
  5. 0: port*
  6. dd: starboard wire tension, tons*
  7. eeee: starboard wire out, meters*
  8. ff: starboard wirespeed, m/min
  9. 1: starboard*
  10. g: port mid wire tension, tons*
  11. h: port mid wire out, meters*
  12. i: port mid wirespeed, m/min
  13. 2: port mid*
  14. k: stb mid wire tension, tons*
  15. l: stb mid wire out, meters*
  16. m: stb mid wirespeed, m/min
  17. 3: starboard mid*
  18. *hh: Checksum*
 2.2.2.0
WIDA2 - Kongsberg warp length (quad and penta trawls) $WIDA2,aa,bbbb,cc,4,dd,eeee,ff,5 *hh<CR><LF>
  1. $WIDA2: Talker identifier + sentence formatter*
  2. aa: center port wire tension, tons*
  3. bbbb: center port wire out, meters*
  4. cc: center port wirespeed, m/min
  5. 4: center port*
  6. dd: center stb wire tension, tons*
  7. eeee: center stb wire out, meters*
  8. ff: center stb wirespeed, m/min
  9. 5: Center stb*
  10. *hh: Checksum*
 2.12.1.0
WLP - Scantrol winch length (port)
$SCWLP,a.a,M,b.b,M*hh<CR><LF>
  1. $SCWLP: Talker identifier + sentence formatter*
  2. a.a,M: paid out wire in meters*
  3. b.b,M: wirespeed in meters/sec., positive when paying out wire
  4. *hh: Checksum*
 1.0.6.0
WLS - Scantrol winch length (starboard) $SCWLS,a.a,M,b.b,M*hh<CR><LF>
  1. $SCWLS: Talker identifier + sentence formatter*
  2. a.a,M: paid out wire in meters*
  3. b.b,M: wirespeed in meters/sec., positive when paying out wire
  4. *hh: Checksum*
 1.0.6.0
WLC - Scantrol winch length (clump) $SCWLC,a.a,M,b.b,M*hh<CR><LF>
  1. $SCWLC: Talker identifier + sentence formatter*
  2. a.a,M: paid out wire in meters*
  3. b.b,M: wirespeed in meters/sec., positive when paying out wire
  4. *hh: Checksum*
 1.0.6.0
WLD - Scantrol winch length (triple trawl - port clump) $SCWLD,a.a,T*hh<CR><LF>
  1. $SCWLD: Talker identifier + sentence formatter*
  2. a.a,M: paid out wire in meters*
  3. b.b,M: wirespeed in meters/sec., positive when paying out wire
  4. *hh: Checksum*
 2.0.0.0
WLE - Scantrol winch length (quad trawl - center clump) $SCWLE,a.a,T*hh<CR><LF>
  1. $SCWLE: Talker identifier + sentence formatter*
  2. a.a,M: paid out wire in meters*
  3. b.b,M: wirespeed in meters/sec., positive when paying out wire
  4. *hh: Checksum*
 2.0.0.0
WTP - Scantrol winch tension (port) $SCWTP,a.a,T*hh<CR><LF>
  1. $SCWTP: Talker identifier + sentence formatter*
  2. a.a,T: tension in tons*
  3. *hh: Checksum*
 1.0.6.0
WTS - Scantrol winch tension (starboard) $SCWTS,a.a,T*hh<CR><LF>
  1. $SCWTS: Talker identifier + sentence formatter*
  2. a.a,T: tension in tons*
  3. *hh: Checksum*
 1.0.6.0
WTC - Scantrol winch tension (clump) $SCWTC,a.a,T*hh<CR><LF>
  1. $SCWTC: Talker identifier + sentence formatter*
  2. a.a,T: tension in tons*
  3. *hh: Checksum*
 1.0.6.0
WTD - Scantrol winch tension (triple trawl - port clump) $SCWTD,a.a,T*hh<CR><LF>
  1. $SCWTD: Talker identifier + sentence formatter*
  2. a.a,T: tension in tons*
  3. *hh: Checksum*
 2.0.0.0
WTE - Scantrol winch tension (quad trawl - center clump) $SCWTD,a.a,T*hh<CR><LF>
  1. $SCWTD: Talker identifier + sentence formatter*
  2. a.a,T: tension in tons*
  3. *hh: Checksum*
 2.0.0.0