C-Nav 1000 R4, Installation Manual

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SERIAL COMMUNICATION INTERFACES Page 38
Table 7-3. Supported navigation output sentences
Sentence Description Port 1 & 2 Port 3
ALR Alarm state Note 1 Note 1
AAM Waypoint arrival alarm 1 Hz -
APB Heading/track controller (Autopilot)
sentence B 1 Hz -
BOD Bearing, origin to destination 1 Hz -
BWC Bearing and distance to waypoint (great
circle) 1 Hz -
BWR Bearing and distance to waypoint, rhumb
line 1 Hz -
BWC/BWR
Auto BWC or BWR messages output
depending on the navigation algorithm
used for current leg in working route. (see
Note 3) 1Hz -
HSC Heading steering command 1 Hz -
RMB Recommended minimum navigation
information
1 Hz -
XTE Cross-track error, measured 1 Hz -
WPL/RTE
Working Working routes and associated waypoint
locations (see Note 4) 1 Hz 1 Hz
WPL/RNN
Working
(see Note 2) Working routes and associated waypoint
locations 1 Hz 1 Hz
WPL/RTE
Upload Complete routes and associated waypoint
locations, and individual waypoints (see
Note 5) 1 Hz 1 Hz
Note 1: The ALR message provides current state of all external alarms with
3Hz every 30 seconds, and for individual alarms with a single message
when an alarm state has changed.
Note 2: Supported for NMEA backwards compliance. Use of
WPL/RTE
is
recommended.
Note 3: BWC or BWR messages (as determined by the selected default
navigation algorithm) with null data will be transmitted when no working
route is selected. Duplicate messages may be transmitted if BWC/BWR
Auto is selected together with BWC and/or BWR.
Note 4: The previous waypoint and up to next four waypoints of the
working route will be transmitted. When sailing towards the first waypoint
in the working route, the first transmitted waypoint will be the current
position when the working route is selected (t0).
Note 5: Route or waypoint(s) to be uploaded are manually selected and
transmitted once.