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NMEA Message Structure
To understand the NMEA message structure, let’s examine the popular $GPGGA message. This particular message was output from an RTK GPS receiver:
$GPGGA,181908.00,3404.7041778,N,07044.3966270,
W,4,13,1.00,495.144,M,29.200,M,0.10,0000*40
All NMEA messages start with the $ character, and each data field is separated by a comma.
GP represent that it is a GPS position (GL would denote GLONASS). ...
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