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SPSx51 Modular GPS Receivers User Guide 125
NMEA-0183 Output A
PTNL,AVR
Time, Yaw, Tilt, Range for Moving Baseline RTK
The PTNL,AVR message string is shown below, and Ta bl e A.6 describes the message
fields.
$PTNL,AVR,181059.6,+149.4688,Yaw,+0.0134,Tilt,,,60.191,3,2.5,6*00
Table A.6 AVR message fields
Field Meaning
0 Message ID $PTNL,AVR
1UTC of vector fix
2 Yaw angle in degrees
3Yaw
4 Tilt angle in degrees
5Tilt
6 Reserved
7 Reserved
8 Range in meters
9 GPS quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential carrier phase solution RTK (Float)
3: Differential carrier phase solution RTK (Fix)
4: Differential code-based solution, DGPS
10 PDOP
11 Number of satellites used in solution
12 The checksum data, always begins with *