and 
NMEA PUBX,00 message
Popular NMEA messages
Poll a PUBX,00 message
| Message | NMEA-PUBX-POSITION Poll a PUBX,00 message |
| Type | Poll request |
| Comment | A PUBX,00 message is polled by sending the PUBX,00 message without any data fields. |
| Information | Class/ID: 0xf1 0x00 Number of fields: 4 |
| Structure | $PUBX,00*33\r\n |
| Example | $PUBX,00*33\r\n |
Payload (Poll Request)
| Field | Name | Format | Unit | Example | Description |
|---|---|---|---|---|---|
| 0 | PUBX | string | - | $PUBX | Message ID, UBX protocol header, proprietary sentence |
| 1 | msgId | numeric | - | 00 | Set to 00 to poll a PUBX,00 message |
| 2 | cs | hexadecimal | - | *33 | Checksum |
| 3 | CRLF | character | - | - | Carriage return and line feed |
Lat/Long position data (PUBX,00)
| Message | NMEA-PUBX-POSITION Lat/Long position data |
| Type | Output |
| Comment | This message contains position solution data. The datum selection may be changed using the config item CFG-NAVSPG-USE_USRDAT. The output of this message is dependent on the currently selected datum (default: WGS84). |
| Information | Class/ID: 0xf1 0x00 Number of fields: 23 |
| Structure | $PUBX,00,time,lat,NS,long,EW,altRef,navStat,hAcc,vAcc,SOG,COG,vVel,diffAge,HDOP,VDOP,TDOP,numSvs,reserved,DR,*cs\r\n |
| Example | $PUBX,00,081350.00,4717.113210,N,00833.915187,E,546.589,G3,2.1,2.0,0.007,77.52,0.007,,0.92,1.19,0.77,9,0,0*5B\r\n |
Payload (Output Data)
| Field | Name | Format | Unit | Example | Description |
|---|---|---|---|---|---|
| 0 | PUBX | string | - | $PUBX | Message ID, UBX protocol header, proprietary sentence |
| 1 | msgId | numeric | - | 00 | Proprietary message identifier: 00 |
| 2 | time | hhmmss.ss | - | 081350.00 | UTC time. See section UTC representation in the integration manual for details. |
| 3 | lat | ddmm.mmmmm | - | 4717.113210 | Latitude (degrees and minutes), see format description |
| 4 | NS | character | - | N | North/South Indicator |
| 5 | long | dddmm.mmmmm | - | 00833.915187 | Longitude (degrees and minutes), see format description |
| 6 | EW | character | - | E | East/West indicator |
| 7 | altRef | numeric | m | 546.589 | Altitude above user datum ellipsoid |
| 8 | navStat | string | - | G3 | Navigation Status: • NF = No Fix • DR = Dead reckoning only solution • G2 = Stand alone 2D solution • G3 = Stand alone 3D solution • D2 = Differential 2D solution • D3 = Differential 3D solution • RK = Combined GPS + dead reckoning solution • TT = Time only solution |
| 9 | hAcc | numeric | m | 2.1 | Horizontal accuracy estimate |
| 10 | vAcc | numeric | m | 2.0 | Vertical accuracy estimate |
| 11 | SOG | numeric | km/h | 0.007 | Speed over ground |
| 12 | COG | numeric | deg | 77.52 | Course over ground |
| 13 | vVel | numeric | m/s | 0.007 | Vertical velocity (positive downwards) |
| 14 | diffAge | numeric | s | - | Age of differential corrections (blank when DGPS is not used) |
| 15 | HDOP | numeric | - | 0.92 | HDOP, Horizontal Dilution of Precision |
| 16 | VDOP | numeric | - | 1.19 | VDOP, Vertical Dilution of Precision |
| 17 | TDOP | numeric | - | 0.77 | TDOP, Time Dilution of Precision |
| 18 | numSvs | numeric | - | 9 | Number of satellites used in the navigation solution |
| 19 | reserved | numeric | - | - | Reserved, always set to 0 |
| 20 | DR | numeric | - | - | DR used |
| 21 | cs | hexadecimal | - | *5B | Checksum |
| 22 | CRLF | character | - | - | Carriage return and line feed |
Based on NMEA documentation provided by u-blox.
Learn more about NMEA protocol:
