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RPM - Revolutions (PAS 102)
Shaft or engine revolution rate and propeller pitch.
$--RPM, a, x, x.x, x.x, A*hh<CR><LF>
Status: A = data valid
Propeller pitch, % of maximum, “-” = astern
Speed, revolutions/min, “-” = counter-clockwise
Engine of shaft number, numbered from center-line
Odd = starboard, even = port, 0 = single or no center-line
Source, shaft/engine S/E
RSA - Rudder sensor angle
$--RSA, x.x, A, x.x, A*hh<CR><LF>
Port rudder sensor (see note), Status: A = data valid
Starboard (or single) rudder sensor (see note), Status: A = data valid
NOTE - Relative measurement of rudder angle without units, “-” = turn to port. Sensor output is
proportional to rudder angle but not necessarily 1 : 1.
TRC - Thruster control data
This sentence provides the control data for thruster devices
$xxTRC, x, x.x, A, x.x, A, x.x, *hh<cr><lf>
0 1 2 3 4 5 6 7
0) Header
1) Number of thrusters
Odd = Bow thruster
Even = Stern thruster
2) RPM demand
3) Data status
R = relative (%): 0-100% from zero to maximum rpm
T = true (deg) V = data invalid
4) Pitch demand value
"-" port
5) Data status
R = relative (%)
T = True (deg)
V = Data invalid
6) Azimuth demand
Direction of thrust in degrees (0 deg - 360 deg)
for thrusters capable of rotating direction of thrust
7) Checksum