= AIVDM/AIVDO protocol decoding = Eric S. Raymond v1.22, Jan 2010 This document is mastered in asciidoc format. If you are reading it in HTML, you can find the original at http://gpsd.berlios.de/AIVDM.txt[] == Introduction == This is a description of how to decode AIVDM/AIVDO sentences. It collects and integrates information from publicly available sources and is intended to assist developers of open-source software for interpreting these messages. AIVDM/AIVDO sentences are emitted by receivers for AIS, the marine Automatic Identification System. All cargo vessels of more than 300 tons displacement and all passenger vessels are supposed to carry AIS transmitters that periodically squawk their position and course, using TDMA (Time Division Multiple Access) technology similar to the way cellphones do to avoid mutual interference. AIS receivers capture these squawks and report them as ASCII data packets over serial lines, using the NMEA 0183 data format and physical network standards. AIS packets have the introducer "!AIVDM" or "!AIVDO"; AIVDM packets are reports from other ships and AIVDO packets are reports from your own ship. A lengthy description of AIS, focusing on the goals and history of the system, but not describing the data protocols in any detail, can be found at <>. == Standards == Multiple standards bear on the AIVDM/AIVDO format. This document exists because assembling them into a complete picture is both technically difficult and impeded by legal barriers. ITU Recommendation M.1371, "Technical Characteristics for a Universal Shipborne Automatic Identification System Using Time Division Multiple Access" <>, issued in 2001, describes the bit-level format of AIS radio messages. It is proprietary, expensive, and surrounded by attack lawyers. I have not looked at it. ITU-R M.1371 is expanded and clarified by "IALA Technical Clarifications on Recommendation ITU-R M.1371-1" <>, which is freely available. There have been two minor revisions of ITU-R M.1371 since it was originally issued. These add interpretations to packet bitfields that were previously marked "spare" and "regional reserved". I have not seen these either, but have been passed information on them. The ASCII format for AIVDM/AIVDO representations of AIS radio messages seems to have been set by IEC-PAS 61162-100, "Maritime navigation and radiocommunication equipment and systems" <>. It is proprietary and I have not looked at it. Various public sources indicate that it has been "harmonized" with some version of NMEA 0183 <>, which I also have not looked at because it too is proprietary and expensive, and surrounded by even more rapacious attack lawyers. == Information Sources == Together, the the IALA Technical Clarifications at <> and the Coast Guard's AIS pages at <> describe AIS message payloads almost completely. The detail information on payload formats in this document is mostly derived from these. Kurt Schwehr is a research scientist at the Center for Coastal and Ocean Mapping at the University of New Hamphire. Much of his research involves AIS. His work blog at <> contains sample messages and descriptions of AIS operation in the wild that shed light on various obscure corners of the specification. He has explained the otherwise undocumented Repeat Indicator field and USCG extended AIVDM to me by email. He also communicated some critical information from <>, and supplied information about new messages and fields in ITU-1371-3. Descriptions of messages 25 and 26 are based on AIS transceiver vendor documentation forwarded to me by a source wishing to remain anonymous. Should you set out to write a decoder using this document, you are likely to find that one of your challenges is finding enough AIS packet data to make an effective regression test -- especially if you live out of line of sight of any ship traffic and would get nothing from running an AIS receiver. Fortunately, various AIS sites offer live feeds over the Internet that aggregate AIS streams from all over the world. Some charge subscriptions; others offer time-delayed access for free and charge for a real-time feed. Still others are pool sites; you join by contributing your feed and receive all feeds. AIS Hub (<<>>) is a free, public AIS feed pool. It provides exchange of AIS data in raw NMEA format; all AISHub members share their own AIS feed and receive the merged feed from all other participating parties. It is open-source friendly, offering a Linux port in source of its software for collecting and forwarding AIS data. Peter Stoyanov and the other AIS Hub principals have generously donated a live feed to the GPSD project despite the fact that I live 60 miles inland and cannot send them anything interesting. Some of what this document explains about the quirks of real-world encoders comes from examples provided by Kurt Schwehr. Other such information, especially for the less common sentences, comes from inspection of sentences forwarded to me from AIS Hub by various interested parties, and more recently from AIS Hub itself. == Improving This Document == To avoid copyright difficulties, I rely only on freely redistributable public documents and paraphrased reports from people who have seen the relevant proprietary standards. If you are such a person, please help by reporting the following to be included in future versions of this document: * Sample sentences of types 16-17, 22-23, and 25-26 together with decoded dumps of the field values. Please note that sample sentences not accompanied by field dumps are *not* useful; I can get plenty of those. == Open-Source Implementations == The http://gpsd.berlios.de/[GPSD project] ships an AIVDM/AIVDO sentence decoder as part of the daemon. This document was developed to be the specification for it, and it will decode all sentence type described herein. The source-code repository of the GPSD project holds a conforming standalone Python decoder, ais.py, that is not included in shipped releases. It may be useful for developers working in that language. <> includes links to a collection of Python scripts for decoding and analyzing AIVDM sentences. Kurt Schwehr warns that this is research code rather than a production tool. There is a http://gnuais.sourceforge.net/[GNU AIS] project at SourceForge. It seems intended primarily to work directly with AIS radios. There's a http://rl.se/aivdm[web form] that does sentence decoding. It only understands message types 1-4. == AIVDM/AIVDO Sentence Layer == AIVDM/AIVDO is a two-layer protocol. The outer layer is a variant of NMEA 0183, the ancient standard for data interchange in marine navigation systems; NMEA 0183 is described at <>. Here is a typical AIVDM data packet: -------------------------------------------------------------------- !AIVDM,1,1,,B,177KQJ5000G?tO`K>RA1wUbN0TKH,0*5C -------------------------------------------------------------------- And here is what the fields mean: Field 1, !AIVDM, identifies this as an AIVDM packet. Field 2 (1 in this example) is the count of fragments in the currently accumulating message. The payload size of each sentence is limited by NMEA 0183's 82-character maximum, so it is sometimes required to split a payload over several fragment sentences. Field 3 (1 in this example) is the fragment number of this sentence. It will be one-based. A sentence with a fragment count of 1 and a fragment number of 1 is complete in itself. Field 4 (empty in this example) is a sequential message ID for multi-sentence messages. Field 5 (B in this example) is a radio channel code. AIS uses the high side of the duplex from two VHF radio channels: AIS Channel A is 161.975Mhz (87B); AIS Channel B is 162.025Mhz (88B). Field 6 (177KQJ5000G?tO`K>RA1wUbN0TKH in this example) is the data payload. We'll describe how to decode this in later sections. Field 7 (0) is the number of fill bits requires to pad the data payload to a 6 bit boundary, ranging from 0 to 5. The \*-separated suffix (\*5C) is the NMEA 0183 data-integrity checksum for the sentence, preceded by "*". It is computed on the entire sentence including the AIVDM tag but excluding the leading "!". For comparison, here is an example of a multifragment sentence with a nonempty message ID field: -------------------------------------------------------------------- !AIVDM,2,1,3,B,55P5TL01VIaAL@7WKO@mBplU@>, the valid ASCII characters for this encoding begin with "0" (64) and end with "w" (87); however, the intermediate range "X" (58) to "\_" (95) is not used. .ASCII payload armoring [width="25%",frame="topbot",options="header"] |====================================== | Char |ASCII |Decimal |Bits |"0" | 48 | 0 |000000 |"1" | 49 | 1 |000001 |"2" | 50 | 2 |000010 |"3" | 51 | 3 |000011 |"4" | 52 | 4 |000100 |"5" | 53 | 5 |000101 |"6" | 54 | 6 |000110 |"7" | 55 | 7 |000111 |"8" | 56 | 8 |001000 |"9" | 57 | 9 |001001 |":" | 58 |10 |001010 |";" | 59 |11 |001011 |"<" | 60 |12 |001100 |"=" | 61 |13 |001101 |">" | 62 |14 |001110 |"?" | 63 |15 |001111 |"@" | 64 |16 |010000 |"A" | 65 |17 |010001 |"B" | 66 |18 |010010 |"C" | 67 |19 |010011 |"D" | 68 |20 |010100 |"E" | 69 |21 |010101 |"F" | 70 |22 |010110 |"G" | 71 |23 |010111 |"H" | 72 |24 |011000 |"I" | 73 |25 |011001 |"J" | 74 |26 |011010 |"K" | 75 |27 |011011 |"L" | 76 |28 |011100 |"M" | 77 |29 |011101 |"N" | 78 |30 |011110 |"O" | 79 |31 |011111 |"P" | 80 |32 |100000 |"Q" | 81 |33 |100001 |"R" | 82 |34 |100010 |"S" | 83 |35 |100011 |"T" | 84 |36 |100100 |"U" | 85 |37 |100101 |"V" | 86 |38 |100110 |"W" | 87 |39 |100111 |"`" | 96 |40 |101000 |"a" | 97 |41 |101001 |"b" | 98 |42 |101010 |"c" | 99 |43 |101011 |"d" |100 |44 |101100 |"e" |101 |45 |101101 |"f" |102 |46 |101110 |"g" |103 |47 |101111 |"h" |104 |48 |110000 |"i" |105 |49 |110001 |"j" |106 |50 |110010 |"k" |107 |51 |110011 |"l" |108 |52 |110100 |"m" |109 |53 |110101 |"n" |110 |54 |110110 |"o" |111 |55 |110111 |"p" |112 |56 |111000 |"q" |113 |57 |111001 |"r" |114 |58 |111010 |"s" |115 |59 |111011 |"t" |116 |60 |111100 |"u" |117 |61 |111101 |"v" |118 |62 |111110 |"w" |119 |63 |111111 |====================================== Concatenate all six-bit quantities found in the payload, MSB first. This is the binary payload of the sentence. Note: There are references to "bit-stuffing" in the <> clarifications describing certain payload fields. <> reveals the following in 3.2.2.1: "The bitstream is subject to bit stuffing. This means that if more than 5 consecutive 1s are found in the output bit stream, a zero is inserted. This applies to all bits except the databits of HDLC flags." <> clarifies as follows: "On the transmitting side, this means that if five (5) consecutive ones (1s) are found in the output bit stream, a zero should be inserted after the five (5) consecutive ones (1s). This applies to all bits between the HDLC flags [...] On the receiving side, the first zero after five (5) consecutive ones (1s) should be removed." It appears that this bit stuffing is meant to be performed by the AIS radio link layer at transmission time and undone at reception time, and should not be visible in AIVDM payloads reported by the receiver. Nevertheless we document it here because it is just the sort of thing that is (a) likely to confuse implementors reading the public sources, and (b) all too likely to become visible if there are firmware or software errors in the transmission chain. == AIVDM/AIVDO Data Types == AIVDM data is encoded as bitfields in the sentence. Bitfields may be interpreted in one of the following ways: - Signed or unsigned integer - Float (scaled from signed integer) - Flag or boolean - Index into a controlled vocabulary - Reserved bits - Spare bits - Strings Numeric bitfields are interpreted as big-endian twos-complement integers; when signed, the sign bit is the highest. Float fields usually have an associated divisor which should be applied to convert to the correct units. In one case, the ROT field in message types 1-3, the scaling operation involves a more laborate formula. Flags are encoded as 1 for true/yes/on, 0 for false/no/off. Indices into controlled vocabularies are numeric bitfields which must be interpreted using per-field string lists specified in the standards. Spare fields generally seem to have been inserted in order to put certain field starts on 8-bit boundaries, and should be ignored. Decoders should not, however, assume that spare fields will be all zeroes. Reserved fields should not be ignored, as they may be assigned for extension data in minor revisions of the AIS standard; it is noted in the message descriptions where this has already occurred. It is good practice for a decoder to make reserved fields available to client applications as uninterpreted bitfields. Character-string fields within AIVDM/AIVDO messages are encoded in a special way, referred to as "six-bit" in the tables below. Each six-bit segment maps to an ASCII character. Segments 0-31 map to the characters "@" ( ASCII 64) through "\_" (ASCII 95) respectively; segments 32-63 map to characters " " (ASCII 32) though "?" (ASCII 63). Lowercase ASCII letters, the backtick, right and left curly brackets, pipe bar, tilde and DEL cannot be encoded. .Sixbit ASCII [width="25%",frame="topbot"] |========================================================================================== |000000 | 0 |"@" |010000 |16 |"P" |100000 |32 |" " |110000 |48 |"0" |000001 | 1 |"A" |010001 |17 |"Q" |100001 |33 |"!" |110001 |49 |"1" |000010 | 2 |"B" |010010 |18 |"R" |100010 |34 |""" |110010 |50 |"2" |000011 | 3 |"C" |010011 |19 |"S" |100011 |35 |"\#" |110011 |51 |"3" |000100 | 4 |"D" |010100 |20 |"T" |100100 |36 |"$" |110100 |52 |"4" |000101 | 5 |"E" |010101 |21 |"U" |100101 |37 |"%" |110101 |53 |"5" |000110 | 6 |"F" |010110 |22 |"V" |100110 |38 |"&" |110110 |54 |"6" |000111 | 7 |"G" |010111 |23 |"W" |100111 |39 |"\'" |110111 |55 |"7" |001000 | 8 |"H" |011000 |24 |"X" |101000 |40 |"(" |111000 |56 |"8" |001001 | 9 |"I" |011001 |25 |"Y" |101001 |41 |")" |111001 |56 |"9" |001010 |10 |"J" |011010 |26 |"Z" |101010 |42 |"\*" |111010 |58 |":" |001011 |11 |"K" |011011 |27 |"[" |101011 |43 |"\+" |111011 |59 |";" |001100 |12 |"L" |011100 |28 |"{backslash}" |101100 |44 |"," |111100 |60 |"<" |001101 |13 |"M" |011101 |29 |"]" |101101 |45 |"-" |111101 |61 |"=" |001110 |14 |"N" |011110 |30 |"\^" |101110 |46 |"." |111110 |62 |">" |001111 |15 |"O" |011111 |31 |"\_" |101111 |47 |"/" |111111 |63 |"?" |========================================================================================== According to the standard, trailing unused characters in six-bit fields will be represented by "@" (six-bit zero); however, real-world encoders are not careful about this and often have nonzero garbage after the "@". The terminating "@" should not be considered part of the text, and any non-"@" characters after it should be discarded. It is also common to space-fill short fields such as ship and station name, so a decoder should strip trailing spaces after stripping at-signs and the garbage after them. Trailing string fields are often specified as "up to" a certain number of bits. Decoders should be prepared to handle any field length up to that number, including zero. == AIVDM/AIVDO Payload Interpretation == Note that many sources use 1-origin numbering for the bits. We'll use 0-origin in this document. The message type names are somewhat variable across different public sources. Whatever ITU-1371 says should be considered authoritative, but the variations I have seen appear to have no practical consequences. The first 6 bits of the payload (0-5) are the message type. Message types are as follows: .Message types [width="50%",frame="topbot"] |====================================================== |01 |Position Report Class A |02 |Position Report Class A (Assigned schedule) |03 |Position Report Class A (Response to interrogation) |04 |Base Station Report |05 |Ship and Voyage data |06 |Addressed Binary Message |07 |Binary Acknowledge |08 |Binary Broadcast Message |09 |Standard SAR Aircraft Position Report |10 |UTC and Date Inquiry |11 |UTC and Date Response |12 |Addressed Safety Related Message |13 |Safety Related Acknowledge |14 |Safety Related Broadcast Message |15 |Interrogation |16 |Assigned Mode Command |17 |GNSS Binary Broadcast Message |18 |Standard Class B CS Position Report |19 |Extended Class B Equipment Position Report |20 |Data Link Management |21 |Aid-to-Navigation Report |22 |Channel Management |23 |Group Assignment Command |24 |Class B CS Static Data Report |25 |Binary Message, Single Slot |26 |Binary Message, Multiple Slot |====================================================== In normal operation, an AIS transceiver will broadcast a position report (type 1, 2, or 3) every 2 to 10 seconds depending on the vessel's speed while underway, and every 3 minutes while the vessel is at anchor and stationary. It will send a type 5 identification every 6 minutes. (More detail is at <>, part 2.3) Class 6 is used for unencrypted structured extension messages by local authorities such as the St. Lawrence Seaway and the U.S Coast Guard's PAWSS. Class 8 is in common use for private encrypted messages, such as location transmission in military exercises. It is also used for unencrypted structured extension messages by local authorities such as the St. Lawrence Seaway and PAWSS. Classes 12 and 14 are used for safety-related text messaging. In practice, message types other than 1, 3, 4, 5, 18, and 24 are unusual or rare; many AIS transponders never emit them. As of November 2009, an overnight capture of a full feed from <<>> shows no type 25 or type 26 messages at all. While the expected bit length or length range of each message is documented, it is common for receivers to ship slightly oversized messages with trailing garbage. For example, Type 1 messages not infrequently have length 204 rather than 168, and I have seen valid type 5 messages with a length of 426 rather than 424. Decoders should do whatever length checking is needed to prevent buffer overruns (especially an issue for message types with trailing binary data or strings: 6, 8, 12, 14, 17, 24, 25, 26). Otherwise, strict length checks may throw out valid data. An MMSI is a Mobile Marine Service Identifier, a unique 9-digit ID for the ship's radio(s). The first three digits convey information about the country in which the ID was issued <>. Detailed descriptions of message types 1-24 follow. Message types 1-22 are derived from <>. Message type 23 was decribed to me by Mike Greene based on <>. Message type 24 was described to me by <>, whose Python toolkit decodes it. Message types 25-26 are reported by <>, who observes they were added in Version 3 of <>. The "Member" column in these tables is not derived from any of the ITU standards or amendments. I have invented it in order to be able to describe a lossless textual encoding of AIS sentences in JSON. These names are also chosen for suitability as structure/object member names in computer languages, so that application programming interfaces across different languages can have a common and readily intelligible set to use. The field breakdowns in this document have been checked against live decoded data rendered by known-good implementations for message types 1-15, 18-21, and 24. Described but unchecked are 16-17, 22-23, and 25-26. === Types 1, 2 and 3: Position Report Class A === Type 1, 2 and 3 messages share a common reporting structure for navigational information; we'll call it the Common Navigation Block (CNB). This is the information most likely to be of interest for decoding software. Total of 168 bits, occupying one AIVDM sentence. .Common Navigation Block [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 1-3 |6-7 | 2 |Repeat Indicator |repeat |See below... |8-37 |30 |MMSI |mmsi |Unsigned integer: 9 digits |38-41 | 4 |Navigation Status |status |See table below |42-49 | 8 |Rate of Turn (ROT) |turn |Signed integer: see below |50-59 |10 |Speed Over Ground (SOG) |speed |Unsigned integer: see below |60-60 | 1 |Position Accuracy |accuracy |See below |61-88 |28 |Longitude |lon |Minutes/10000 (see below) |89-115 |27 |Latitude |lat |Minutes/10000 (see below) |116-127 |12 |Course Over Ground (COG) |course |Relative to true north, | | | | |to 0.1 degree precision |128-136 | 9 |True Heading (HDG) |heading |0 to 359 degrees, | | | | |511 = not available |137-142 | 6 |Time Stamp |second |Second of UTC timestamp |143-144 | 2 |Maneuver Indicator |maneuver |See below |145-147 | 3 |Spare | |Not used |148-148 | 1 |RAIM flag |raim |See below |149-167 |19 |Radio status |radio |See below |============================================================================== The Repeat Indicator is a directive to an AIS transceiver that this message should be rebroadcast. This was intended as a way of getting AIS messages around hills and other obstructions in coastal waters, but is little used as base station coverage is more effective. It is intended that the bit be incremented on each retransmission, to a maximum of three hops. A value of 3 indicates "Do not repeat". .Navigation status codes [width="50%",frame="topbot"] |================================================================= |0 | Under way using engine |1 | At anchor |2 | Not under command |3 | Restricted manoeuverability |4 | Constrained by her draught |5 | Moored |6 | Aground |7 | Engaged in Fishing |8 | Under way sailing |9 | Reserved for future amendment of Navigational Status for HSC |10| Reserved for future amendment of Navigational Status for WIG |11| Reserved for future use |12| Reserved for future use |13| Reserved for future use |14| Reserved for future use |15| Not defined (default) |================================================================= Turn rate is encoded as follows: * 0...126 = turning right at up to 708 degrees per minute or higher * 0...-126 = turning left at up to 708 degrees per minute or higher * 127 = turning right at more than 5deg/30s (No TI available) * -127 = turning left at more than 5deg/30s (No TI available) * 128 (80 hex) indicates no turn information available (default) Values between 0 and 708 degrees/min coded by ROT~AIS~=4.733 * SQRT(ROT~sensor~) degrees/min where ROT~sensor~ is the Rate of Turn as input by an external Rate of Turn Indicator. ROT~AIS~ is rounded to the nearest integer value. Thus, to decode the field value, square it and divide by 4.733. Sign of the field value should be preserved when squaring it, otherwise the left/right indication will be lost. Speed over ground is in 0.1-knot resolution from 0 to 102 knots. value 1023 indicates speed is not available, value 1022 indicates 102.2 knots or higher. Position accuracy flag indicates the accuracy of the fix. A value of 1 indicates a DGPS-quality fix with an accuracy of < 10ms. 0, the default, indicates an unaugmented GNSS fix with accuracy > 10m. Longitude is given in in 1/10000 min; divide by 600000.0 to obtain degrees. Values up to plus or minus 180 degrees, East = positive, West \= negative. A value of 181 degrees (0x6791AC0 hex) indicates that longitude is not available and is the default. Latitude is given in in 1/10000 min; divide by 600000.0 to obtain degrees. Values up to plus or minus 90 degrees, North = positive, South = negative. A value of 91 degrees (0x3412140 hex) indicates latitude is not available and is the default. Course over ground will be 3600 (0xE10) if that data is not available. Seconds in UTC timestamp should be 0-59, except for these special values: * 60 if time stamp is not available (default) * 61 if positioning system is in manual input mode * 62 if Electronic Position Fixing System operates in estimated (dead reckoning) mode, * 63 if the positioning system is inoperative. The Regional Reserved field is intended for use by local maritime authorities. It is not known to be in any actual use up to 2009. The Maneuver Indicator (143-144) may have these values: * 0 = Not available (default) * 1 = No special maneuver * 2 = Special maneuver (such as regional passing arrangement) The interpretation of bits 143-147 has been a bit unstable. In <>. and therefore in the original <>, they were described like this: [width="50%",frame="topbot",options="header"] |================================= |Field |Len |Description |143-145 | 3 |Regional Reserved |146-147 | 2 |Spare |================================= The interpretation of 143-144 as a special maneuver field is new in revision 3 of <>. The RAIM flag indicates whether Receiver Autonomous Integrity Monitoring is being used to check the performance of the EPFD. 0 = RAIM not in use(default), 1 = RAIM in use. See <> for a detailed description of this flag. Bits 149-167 are diagnostic information for the radio system. Consult <> for detailed description of the latter. === Type 4: Base Station Report === This message is to be used by fixed-location base stations to periodically report a position and time reference. Total of 168 bits, occupying one AIVDM sentence. The standard uses "EPFD" to designate any Electronic Position Fixing Device. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 4 |6-7 | 2 |Repeat Indicator |repeat |Unknown |8-37 | 30 |MMSI |mmsi |Unsigned integer: 9 digits |38-51 | 14 |Year |year |UTC, 1-999, 0 = N/A (default) |52-55 | 4 |Month |month |1-12; 0 = N/A (default) |56-60 | 5 |Day |day |1-31; 0 = N/A (default) |61-65 | 5 |Hour |hour |0-23; 24 = N/A (default) |66-71 | 6 |Minute |minute |0-59; 60 = N/A (default) |72-77 | 6 |Second |second |0-59; 60 = N/A (default) |78-78 | 1 |Fix quality |accuracy |As in Common Navigation Block |79-106 | 28 |Longitude |lon |As in Common Navigation Block |107-133 | 27 |Latitude |lat |As in Common Navigation Block |134-137 | 4 |Type of EPFD |epfd |See below |138-147 | 10 |Spare | |Not used |148-148 | 1 |RAIM flag |raim |As for common navigation block |149-167 | 19 |SOTDMA state |radio |As in same bits for Type 1 |============================================================================== .EPFD fix type codes [width="50%",frame="topbot",options="header"] |=================================== |Code |Position Fix Type |0 |Undefined (default) |1 |GPS |2 |GLONASS |3 |Combined GPS/GLONASS |4 |Loran-C |5 |Chayka |6 |Integrated navigation system |7 |Surveyed |8 |Galileo |=================================== Note: though values 9-15 are marked "not used" in <>, the EPFD type value 15 (all field bits 1) is not uncommon in the wild; it appears some receivers emit it as the Undefined value. Decoders should be prepared to accept this. === Type 5: Ship static and voyage related data === Message has a total of 424 bits, occupying two AIVDM sentences. In practice, the information in these fields (especially ETA and destination) is not reliable, as it has to be hand-updated by humans rather than gathered automatically from sensors. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Encoding |0-5 | 6 |Message Type |type |Unsigned integer: 5 |6-7 | 2 |Repeat Indicator |repeat |Message repeat count |8-37 | 30 |MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |AIS Version |ais_version |0=<>, | | | | |1-3 = future editions |40-69 | 30 |IMO Number |imo |Unsigned IMO ship ID number |70-111 | 42 |Call Sign |callsign |7 six-bit characters |112-231 |120 |Vessel Name |shipname |20 six-bit characters |232-239 | 8 |Ship Type |shiptype |See table below |240-248 | 9 |Dimension to Bow |to_bow |Unsigned integer: Meters |249-257 | 9 |Dimension to Stern |to_stern |Unsigned integer: Meters |258-263 | 6 |Dimension to Port |to_port |Unsigned integer: Meters |264-269 | 6 |Dimension to Starboard |to_starboard |Unsigned integer: Meters |270-273 | 4 |Position Fix Type |epfd |As in Type 4 EPSD codes |274-277 | 4 |ETA month |month |1-12, 0=N/A (default) |278-282 | 5 |ETA day |day |1-31, 0=N/A (default) |283-287 | 5 |ETA hour |hour |0-23, 24=N/A (default) |288-293 | 6 |ETA minute |minute |0-59, 60=N/A (default) |294-301 | 8 |Draught |draught |Unsigned integer: Meters/10 |302-421 |120 |Destination |destination |20 6-bit characters |422-422 | 1 |DTE |dte |0=Data terminal ready, | | | | |1=Not ready (default) |423-423 | 1 |Spare | |Not used |============================================================================== Ship dimensions will be 0 if not available. For the dimensions to bow and stern, the special value 511 indicates 511 meters or greater; for the dimensions to port and starboard, the special value 63 indicates 63 meters or greater. .Codes for Ship Type [width="50%",frame="topbot",options="header"] |============================================================== |Code |Ship & Cargo Classification |0 |Not available (default) |1-19 |Reserved for future use |20 |Wing in ground (WIG), all ships of this type |21 |Wing in ground (WIG), Hazardous category A |22 |Wing in ground (WIG), Hazardous category B |23 |Wing in ground (WIG), Hazardous category C |24 |Wing in ground (WIG), Hazardous category D |25 |Wing in ground (WIG), Reserved for future use |26 |Wing in ground (WIG), Reserved for future use |27 |Wing in ground (WIG), Reserved for future use |28 |Wing in ground (WIG), Reserved for future use |29 |Wing in ground (WIG), Reserved for future use |30 |Fishing |31 |Towing |32 |Towing: length exceeds 200m or breadth exceeds 25m |33 |Dredging or underwater ops |34 |Diving ops |35 |Military ops |36 |Sailing |37 |Pleasure Craft |38 |Reserved |39 |Reserved |40 |High speed craft (HSC), all ships of this type |41 |High speed craft (HSC), Hazardous category A |42 |High speed craft (HSC), Hazardous category B |43 |High speed craft (HSC), Hazardous category C |44 |High speed craft (HSC), Hazardous category D |45 |High speed craft (HSC), Reserved for future use |46 |High speed craft (HSC), Reserved for future use |47 |High speed craft (HSC), Reserved for future use |48 |High speed craft (HSC), Reserved for future use |49 |High speed craft (HSC), No additional information |50 |Pilot Vessel |51 |Search and Rescue vessel |52 |Tug |53 |Port Tender |54 |Anti-pollution equipment |55 |Law Enforcement |56 |Spare - Local Vessel |57 |Spare - Local Vessel |58 |Medical Transport |59 |Ship according to RR Resolution No. 18 |60 |Passenger, all ships of this type |61 |Passenger, Hazardous category A |62 |Passenger, Hazardous category B |63 |Passenger, Hazardous category C |64 |Passenger, Hazardous category D |65 |Passenger, Reserved for future use |66 |Passenger, Reserved for future use |67 |Passenger, Reserved for future use |68 |Passenger, Reserved for future use |69 |Passenger, No additional information |70 |Cargo, all ships of this type |71 |Cargo, Hazardous category A |72 |Cargo, Hazardous category B |73 |Cargo, Hazardous category C |74 |Cargo, Hazardous category D |75 |Cargo, Reserved for future use |76 |Cargo, Reserved for future use |77 |Cargo, Reserved for future use |78 |Cargo, Reserved for future use |79 |Cargo, No additional information |80 |Tanker, all ships of this type |81 |Tanker, Hazardous category A |82 |Tanker, Hazardous category B |83 |Tanker, Hazardous category C |84 |Tanker, Hazardous category D |85 |Tanker, Reserved for future use |86 |Tanker, Reserved for future use |87 |Tanker, Reserved for future use |88 |Tanker, Reserved for future use |89 |Tanker, No additional information |90 |Other Type, all ships of this type |91 |Other Type, Hazardous category A |92 |Other Type, Hazardous category B |93 |Other Type, Hazardous category C |94 |Other Type, Hazardous category D |95 |Other Type, Reserved for future use |96 |Other Type, Reserved for future use |97 |Other Type, Reserved for future use |98 |Other Type, Reserved for future use |99 |Other Type, no additional information |============================================================== Note that garbage values greater than 99 are supposed to be unused, but are not uncommon in the wild; AIS transponers seem prone to put garbage in this field when it's not explicitly set. Decoders should treat these like value 0 rather than throwing an exception until and unless the controlled vocabulary is extended to include the unknown values. === Type 6: Addressed Binary Message === Message type 6 is an addressed point-to-point message with unspecified binary payload. The St. Lawrence Seaway AIS system and the USG PAWSS system use this payload for local extension messages. It is variable in length up to a maximum of 1008 bits (up to 5 AIVDM sentence payloads). [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 6 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 | 30 |Source MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Sequence Number |seqno |Unsigned integer 0-3 |40-69 | 30 |Destination MMSI |dest_mmsi |Unsigned integer: 9 digits |70 | 1 |Retransmit flag |retransmit |0 = no retransmission (default) | | | | |1 = retransmitted |71 | 1 |Spare | |Not used |72-87 | 16 |Application ID |app_id |Unsigned integer |88 |920 |Data |data |Binary data | | | | |May be shorter than 920 bits. |============================================================================== === Type 7: Binary Acknowledge === Message type 7 is a receipt acknowledgement to the senders of a previous messages of type 6. Total length varies between 72 and 168 bits depending on the number of destination MMSIs included. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 7 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 | 30 |Source MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Spare | |Not used |40-69 | 30 |MMSI number 1 |mmsi1 |Unsigned integer: 9 digits |70-71 | 2 |Spare | |Not used |62-101 | 30 |MMSI number 2 |mmsi2 |Unsigned integer: 9 digits |102-103 | 2 |Spare | |Not used |104-133 | 30 |MMSI number 3 |mmsi3 |Unsigned integer: 9 digits |134-135 | 2 |Spare | |Not used |136-165 | 30 |MMSI number 4 |mmsi4 |Unsigned integer: 9 digits |166-167 | 2 |Spare | |Not used |============================================================================== === Type 8: Binary Broadcast Message === Message type 8 is a broadcast message with unspecified binary payload. The St. Lawrence Seaway AIS system and the USG PAWSS system use this payload for local extension messages. It is variable in length up to a maximum of 1008 bits (up to 5 AIVDM sentence payloads). [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 8 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 | 30 |Source MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Spare | |Not used |40-55 | 16 |Application ID |app_id |Unsigned integer |56 |952 |Data |data |Binary data | | | | |May be shorter than 952 bits. |============================================================================== === Type 9: Standard SAR Aircraft Position Report === Tracking information for search-and-rescue aircraft. Total number of bits is 168. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Encoding |0-5 | 6 |Message Type |type |Unsigned integer: 9 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 |30 |MMSI |mmsi |Unsigned integer: 9 digits |38-49 |12 |Altitude |alt |Unsigned integer: See below |50-59 |10 |SOG |speed |Unsigned integer: See below |60-60 | 1 |Position Accuracy |accuracy |See below |61-88 |28 |Longitude |lon |Minutes/10000 (as in CNB) |89-115 |27 |Latitude |lat |Minutes/10000 (as in CNB) |116-127 |12 |Course Over Ground |course |Relative to true north to 0.1 degree |128-133 | 6 |Time Stamp |second |Unsigned integer: UTC second. |134-141 | 8 |Regional reserved |regional | |142-142 | 1 |DTE |dte |0=Data terminal ready, | | | | |1=Data terminal not ready (default) |143-145 | 3 |Spare | |Not used |146-146 | 1 |Assigned |assigned |Assigned-mode flag |147-147 | 1 |RAIM flag |raim |As for common navigation block |148-167 |19 |Radio status |radio |See <> for details. |============================================================================== Altitude is in meters. The special value 4095 indicates altitude is not available; 4094 indicates 4094 meters or higher. Speed over ground is in knots, not deciknots as in the common navigation block; planes go faster. The special value 1023 indicates speed not available, 1022 indicates 1022 knots or higher. Position Accuracy, Longitude, Latitude, and Course over Ground are encoded identically as in the common navigation block and are even at the same bit offsets. Time stamp has the same special values as in the common navigation block, but is at a different offset. === Type 10: UTC/Date Inquiry === Request for UTC/Date information from an AIS base station. Total number of bits is 72. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Encoding |0-5 | 6 |Message Type |type |Unsigned integer: 9 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 |30 |Source MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Spare | |Not used |40-69 |30 |Destination MMSI |dest_mmsi |Unsigned integer: 9 digits |70-71 | 2 |Spare | |Not used |============================================================================== === Type 11: UTC/Date Response === Identical to message 4, with the semantics of a response to inquiry. === Type 12: Safety-Related Message === This is a point-to-point text message. The payload is interpreted as six-bit text. This message is variable in length up to a maximum of 1008 bits (up to 5 AIVDM sentence payloads). [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 12 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 | 30 |Source MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Sequence Number |seqno |Unsigned integer 0-3 |40-69 | 30 |Destination MMSI |dest_mmsi |Unsigned integer: 9 digits |70 | 1 |Retransmit flag |retransmit |0 = no retransmission (default) | | | | |1 = retransmitted |71 | 1 |Spare | |Not used |72 |936 |Text |text |1-156 chars of six-bit text. | | | | |May be shorter than 936 bits. |============================================================================== Pragmatic note: On <<>> the actual content of these messages is highly variable, ranging from fairly plain English ("PLEASE REPORT TO JOBOURG TRAFFIC CHANNEL 13") through snippets of tabular data ("PAX 589 FG 36 IX 74 MOTO 10 CREW 108+1" through what look like opaque commercial codes ("EP285 IX46 FG3 DK8 PL56") to empty strings and content that looks like line noise ("]XFD5D/\7`>PA!Q DX0??K?8?>D"). Such apparently garbled content does *not* mean there is an error in your decoder. It may indicate faulty encoders, operator error, or even the use of private encodings for non-ASCII character sets. === Type 13: Safety-Related Acknowledge === Message type 13 is a receipt acknowledgement to senders of previous messages of type 12. The message layout is identical to a type 7 Binary Acknowledge. === Type 14: Safety-Related Broadcast Message === This is a broadcast text message. The payload is interpreted as six-bit text. This message is variable in length up to a maximum of 1008 bits (up to 5 AIVDM sentence payloads). [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 14 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 | 30 |Source MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Spare | |Not used |40 |968 |Text |text |1-161 chars of six-bit text. | | | | |May be shorter than 968 bits. |============================================================================== Note: There may be an error in the standards. 161 * 6 = 966, not 968, but 968 is the figure given in <>. Also see the pragmatic note on message content attached to type 12; it applies to type 14 messages as well. === Type 15: Interrogation === Message type 15 is used by a base station to query one or two other AIS transceivers for status messages of specified types. "Source MMSI" is the interrogating station. 88-160 bits depending on the number of queries. This message is probably not interesting unless you are doing traffic analysis of information flow in an AIS station network. The "slot offset" members are a request for the response to interrogation to occupy a particular time division in the TDMA packet layer. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 15 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 | 30 |Source MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Spare | |Not used |40-69 | 30 |Interrogated MMSI |mmsi1 |Unsigned integer: 9 digits |70-75 | 6 |First message type |type1_1 |Unsigned integer |76-87 | 12 |First slot offset |offset1_1 |Unsigned integer |88-89 | 2 |Spare | |Not used |90-95 | 6 |Second message type |type1_2 |Unsigned integer |96-107 | 12 |Second slot offset |offset1_2 |Unsigned integer |108-109 | 2 |Spare | |Not used |110-139 | 30 |Interrogated MMSI |mmsi2 |Unsigned integer: 9 digits |140-145 | 6 |First message type |type2_1 |Unsigned integer |146-157 | 12 |First slot offset |offset2_1 |Unsigned integer |158-159 | 2 |Spare | |Not used |============================================================================== There are four use cases for this message. A decoder must dispatch on the length of the data packet to determine which it is seeing: 1. One station is interrogated for one message type. Length is 88-90 bits. 2. One station is interrogated for two message types, Length is 108-110 bits. 3. Two stations are interrogated for one message type each. Length is 158-160 bits. The second message type and second slot offset associated with the first queried MMSI should be zeroed. 4. One station is interrogated for two message types, and a second for one message type. Length is 158-160 bits. The reason the lengths given here vary by up to two bits is that <> is not consistent about whether it expects trailing spare bits to be included in the data packet. The shortest message length is given as 88, implying that in case 1 the trailing spare bits 88-89 are not expected to be sent. The longest message length is gven as 160, implying that in cases 3 and 4 the trailing spare bits 159-160 are expected to be sent. A robust decoder should check for both possible lengths in each case. === Type 16: Assigned Mode Command === Message type 16 is used by a base station with control authority to configure the scheduling of AIS informational messages from subordinate stations, either as a frquency per 10-minute interval or by specifying the TDMA slot(s) offset on which those messages should be transmitted. It is probably not of interest unless you are studying the internal operation of an AIS base station network. Length may be 96 or 144 bits. [frame="topbot",options="header"] |============================================================================ |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 16 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 | 30 |Source MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Spare | |Not used |40-69 | 30 |Destination A MMSI |mmsi1 |Unsigned integer: 9 digits |70-81 | 12 |Offset A |offset1 |See <> |82-91 | 10 |Increment A |increment1 |See <> |92-121 | 30 |Destination B MMSI |mmsi2 |Unsigned integer: 9 digits |122-133 | 12 |Offset B |offset2 |See <> |134-143 | 10 |Increment B |increment2 |See <> |============================================================================= If the message is 96 bits long, it should be interpreted as an assignment for a single station (92 bits) followed by 4 bits of padding reserved for future use. If the message is 144 bits long it should be interpreted as a channel assignment for two stations; no padding follows. When increment is zero, the offset field is interpreted as the frequency with which the subordinate station should report prer 10-minute interval. When increment is nonzero, reporting interval is specified at the level of TDMA slot numbers; see <> for the detailed specification. === Type 17: GNSS Broadcast Binary Message === Message type 17 is used to broadcast differential corrections for GPS. The data in the payload is intended to be passed directly to GPS receivers capable of accepting such corrections. 80 to 816 bits depending on payload size. |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 16 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 | 30 |Source MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Spare | |Not used |40-57 | 18 |Longitude |lon |Signed: minutes/10 |58-74 | 17 |Latitude |lat |Signed: minutes/10 |75-79 | 5 |Spare | |Not used - reserved |80-815 |736 |Payload |data |DGNSS correction data |============================================================================== Nore that latitude and longitude are in units of a tenth of a minute; sign interpretation and out-of-band values are as in the Common Navigation Clock. (Note, however, that the hex representation of the out-of-band values differs; it is 181 \* 60 \* 10 = 0x1a838 for longitude, 91 \* 60 \* 10 = 0xd548 for latitude.) The <> description of the payload portion subfields has been omitted, as it appears to be tied to the now obsolete RTCM2 protocol. === Type 18: Standard Class B CS Position Report === A less detailed report than types 1-3 for vessels using Class B transponders. Omits navigational status and rate of turn. Fields are encoded as in the common navigation block. 168 bits total. In <> (and ITU 1371-1) bits 141-145 were designated "Spare"; the bit-flag semantics given here are from ITU-1371-3 and were communicated by Kurt Schwehr. Kurt warns that "the spec does not do a good job of explaining these fields... I don't think that I totally understand these fields." [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 18 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 |30 |MMSI |mmsi |Unsigned integer: 9 digits |38-45 | 8 |Regional Reserved |reserved | |46-55 |10 |Speed Over Ground |speed |As in common navigation block |56-56 | 1 |Position Accuracy |accuracy |See below |57-84 |28 |Longitude |lon |Minutes/10000 (as in CNB) |85-111 |27 |Latitude |lat |Minutes/10000 (as in CNB) |112-123 |12 |Course Over Ground |course |Relative to true north to 0.1 degree |124-132 | 9 |True Heading |heading |0 to 359 degrees, 511 = N/A |133-138 | 6 |Time Stamp |second |Second of UTC timestamp. |139-140 | 2 |Regional reserved |regional | |141-141 | 1 |CS Unit |cs |0=Class B SOTDMA unit | | | | |1=Class B CS (Carrier Sense) unit |142-142 | 1 |Display flag |display |0=No visual display, 1=Has display | | | | |(Probably not reliable.) |143-143 | 1 |DSC Flag |dsc |If 1, unit is attached to a VHF | | | | |voice radio with DSC capability. |144-144 | 1 |Band flag |band |Base stations can command units | | | | |to switch frequency. If this flag | | | | |is 1, the unit can use any part | | | | |of the marine channel. |145-145 | 1 |Message 22 flag |msg22 |If 1, unit can accept a channel | | | | |assignment via Message Type 22. |146-146 | 1 |Assigned |assigned |Assigned-mode flag |147-147 | 1 |RAIM flag |raim |As for common navigation block |148-167 |20 |Radio status |radio |See <> for details. |============================================================================== === Type 19: Extended Class B CS Position Report === A slightly more detailed report than type 18 for vessels using Class B transponders. Omits navigational status and rate of turn. Fields are encoded as in the common navigation block and the Type 5 message. Note that until just before the reserved field at bit 139 this is identical to message 18. 312 bits total. In practice, the information in the ship name and dimension fields is not reliable, as it has to be hand-entered by humans rather than gathered automatically from sensors. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 19 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 |30 |MMSI |mmsi |Unsigned integer: 9 digits |38-45 | 8 |Regional Reserved |reserved | |46-55 |10 |Speed Over Ground |speed |As in Common Navigation Block |56-56 | 1 |Position Accuracy |accuracy |See below |57-84 |28 |Longitude |lon |Minutes/10000 (as in CNB) |85-111 |27 |Latitude |lat |Minutes/10000 (as in CNB) |112-123 |12 |Course Over Ground |course |Relative to true north, | | | | |units of 0.1 degrees |124-132 | 9 |True Heading |heading |0 to 359 degrees, | | | | |511 = N/A |133-138 | 6 |Time Stamp |second |Second of UTC timestamp. |139-142 | 4 |Regional reserved |regional | |143-262 1|20 |Name |shipname |20 6-bit characters |263-270 | 8 |Type of ship and cargo |shiptype |As in Message 5 |271-279 | 9 |Dimension to Bow |to_bow |Unsigned integer: Meters |280-288 | 9 |Dimension to Stern |to_stern |Unsigned integer: Meters |289-294 | 6 |Dimension to Port |to_port |Unsigned integer: Meters |295-297 | 6 |Dimension to Starboard |to_starboard |Unsigned integer: Meters |299-301 | 4 |Position Fix Type |epfd |As in Type 4 EPFD codes |302-303 | 1 |RAIM flag |raim |As for Common Navigation Block |304-305 | 1 |DTE |dte |0=Data terminal ready, |306-306 | 1 |Assigned mode flag |assigned |See <> for details |307-311 | 5 |Spare | |Unused, should be zero |============================================================================== === Type 20 Data Link Management Message === This message is used to pre-allocate TDMA slots within an AIS base station network. It contains no navigational information, and is unlikely to be of interest unless you are implementing or studying an AIS base station network. Length varies from 72-160 depending on the number of slot reservations (1 to 4) in the message. [frame="topbot",options="header"] |=============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 20 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 |30 |MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Spare | |Not used |40-51 |12 |Offset number 1 |offset1 |Reserved offset number |52-55 | 4 |Reserved slots |number1 |Consecutive slots |56-58 | 3 |Time-out |timeout1 |Allocation timeout in minutes |59-69 |11 |Increment |increment1 |Repeat increment |70-81 |12 |Offset number 2 |offset2 |Reserved offset number |82-85 | 4 |Reserved slots |number2 |Consecutive slots |86-88 | 3 |Time-out |timeout2 |Allocation timeout in minutes |89-99 |11 |Increment |increment2 |Repeat increment |100-111 |12 |Offset number 3 |offset3 |Reserved offset number |112-115 | 4 |Reserved slots |number3 |Consecutive slots |116-118 | 3 |Time-out |timeout3 |Allocation timeout in minutes |119-129 |11 |Increment |increment3 |Repeat increment |130-141 |12 |Offset number 4 |offset4 |Reserved offset number |142-145 | 4 |Reserved slots |number4 |Consecutive slots |146-148 | 3 |Time-out |timeout4 |Allocation timeout in minutes |149-159 |11 |Increment |increment4 |Repeat increment |=============================================================================== See <> for details on the meaning of these fields. === Type 21: Aid-to-Navigation Report === Identification and location message to be emitted by aids to navigation such as buoys and lighthouses. This message is unusual in that it varies in length depending on the presence and size of the Name Extension field. May vary between 272 and 360 bits. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 21 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 |30 |MMSI |mmsi |Unsigned integer: 9 digits |38-42 | 5 |Aid type |aid_type |See Below |43-162 1|20 |Name |name |Name of the aid to navigation |163-163 | 1 |Position Accuracy |accuracy |As in Common Navigation Block |164-191 |28 |Longitude |lon |Minutes/10000 (as in CNB) |192-218 |27 |Latitude |lat |Minutes/10000 (as in CNB) |219-227 | 9 |Dimension to Bow |to_bow |Unsigned integer: Meters |228-236 | 9 |Dimension to Stern |to_stern |Unsigned integer: Meters |237-242 | 6 |Dimension to Port |to_port |Unsigned integer: Meters |243-248 | 6 |Dimension to Starboard |to_starboard |Unsigned integer: Meters |249-252 | 4 |Type of EPFD |epfd |As in Message Type 4 |253-258 | 6 |UTC Second |second |As in Message Type 5 |259-259 | 1 |Off-Position Indicator |off_position |See Below |260-267 | 8 |Regional reserved |regional | |268-268 | 1 |RAIM flag |raim |As in Common Navigation Block |269-269 | 1 |Virtual-aid flag |virtual_aid |See Below |270-270 | 1 |Assigned-mode flag |assigned |See <> for details |271-271 | 1 |Spare | |Not used |272-360 |88 |Name Extension | |See Below |============================================================================== According to <>, the aid type field has values 1-15 for fixed and 16-31 for floating aids to navigation. The detailed list is as follows: [frame="topbot",options="header"] |==================================================================== |Code |Definition |0 |Default, Type of Aid to Navigation not specified |1 |Reference point |2 |RACON (radar transponder marking a navigation hazard) |3 |Fixed structure off shore, such as oil platforms, wind farms, | |rigs. (Note: This code should identify an obstruction that is | |fitted with an Aid-to-Navigation AIS station.) |4 |Spare, Reserved for future use. |5 |Light, without sectors |6 |Light, with sectors |7 |Leading Light Front |8 |Leading Light Rear |9 |Beacon, Cardinal N |10 |Beacon, Cardinal E |11 |Beacon, Cardinal S |12 |Beacon, Cardinal W |13 |Beacon, Port hand |14 |Beacon, Starboard hand |15 |Beacon, Preferred Channel port hand |16 |Beacon, Preferred Channel starboard hand |17 |Beacon, Isolated danger |18 |Beacon, Safe water |19 |Beacon, Special mark |20 |Cardinal Mark N |21 |Cardinal Mark E |22 |Cardinal Mark S |23 |Cardinal Mark W |24 |Port hand Mark |25 |Starboard hand Mark |26 |Preferred Channel Port hand |27 |Preferred Channel Starboard hand |28 |Isolated danger |29 |Safe Water |30 |Special Mark |31 |Light Vessel / LANBY / Rigs |==================================================================== The name field is 6-bit ASCII. If this field is full (has no trailing @ characters) the decoder should interpret the Name Extension field later in the message (no more than 14 6-bit characters) and concatenate it to this one to obtain the full name. <> describes bits 219-248 As "Dimension/Reference for Position", implying that it is vessel dimensions as in message type 5. The Off-Position Indicator is for floating Aids-to-Navigation only: 0 means on position; 1 means off position. Only valid if UTC second is equal to or below 59. The Virtual Aid flag is interpreted as follows: 0 = default = real Aid to Navigation at indicated position; 1 = virtual Aid to Navigation simulated by nearby AIS station. If present, the Name Extension consists of packed six-bit ASCII characters followed by 0-6 bytes of padding to an 8-bit boundary. The <> description says "This parameter should be omitted when no more than 20 characters for the name of the A-to-N are needed in total. Only the required number of characters should be transmitted, i.e. no @-character should be used." A decoder can deduce the bit length of the name extension field by subtracting 272 from the total message bit length. === Type 22: Channel Management === This message is broadcast by a competent authority (an AIS network control base station) to set VHF parameters for an AIS coverage region. Length is 168 bits. This message contains no navigational information, and is unlikely to be of interest unless you are implementing or studying an AIS base station network. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned integer: 22 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 |30 |MMSI |mmsi |Unsigned integer: 9 digits |38-39 | 2 |Spare | |Not used |40-51 |12 |Channel A |channel_a |Channel number |52-63 |12 |Channel B |channel_b |Channel number |64-67 | 4 |Tx/Rx mode |txrx |Transmit/receive mode |68-68 | 1 |Power |power |Low=0, high=1 |69-86 |18 |NE Longitude |ne_lon |Signed: NE longitude to 0.1 minutes |87-103 |17 |NE Latitude |ne_lat |Signed: NE latitude to 0.1 minutes |104-121 |18 |SW Longitude |sw_lon |Signed: SW longitude to 0.1 minutes |122-138 |17 |SW Latitude |sw_lat |Signed: SW latitude to 0.1 minutes |69-98 |30 |MMSI1 |dest1 |Unsigned: MMSI of destination 1 |104-133 |30 |MMSI2 |dest2 |Unsigned: MMSI of destination 2 |139-139 | 1 |Addressed |addressed |0=Broadcast, 1=Addressed |140-140 | 1 |Channel A Band |band_a |0=Default, 1=12.5kHz |141-141 | 1 |Channel B Band |band_b |0=Default, 1=12.5kHz |142-144 | 3 |Zone size |zonesize |Size of transitional zone |145-167 |23 |Spare | |Reserved for future use |============================================================================== The values of the channel_a and channel_b fields are ITU frequency designators for channelas A and B. Normally these will be 2087 and 2088, the AIS 1 and AIS 2 frequencies of 87B (161.975 MHz) and 88B (162.025 MHz) respectively. Regional authorities may set different frequencies. The txrx field encodes the same information as the 2-bit field txrx field in message type 23; only the two low bits are used. The power bit instructs designated recxeivers which power level to use. If the message is broadcast (addressed field is 0), the ne_lon, ne_lat, sw_lon, and sw_lat fields are the corners of a rectangular jurisdiction area over which control parameters are to be set. If it is addressed (addressed field is 1), the same span of data is interpreted as two 30-bit MMSIs beginning at at bit offsets 69 and 104 respectively. Note that the 'not available' values for longitude and latitudes match the short ones used in message 17, not the long ones used in the common navigation block and elsewhere. The band fields control channel bandwidth for channels A and B, and the zonesize field describes the size of the transition zone around the control jurisdiction. The semantics of these fields is complicated, controlling transponder behavior as it moves between jurisdictions; see <> for full details. === Type 23: Group Assignment Command === This message is intended to be broadcast by a competent authority (an AIS network-control base station) to set to set operational parameters for all mobile stations in an AIS coverage region. Length is 160 bits. This message contains no navigational information, and is unlikely to be of interest unless you are implementing or studying an AIS base station network. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description |Member |Units |0-5 | 6 |Message Type |type |Unsigned Integer: 23 |6-7 | 2 |Repeat Indicator |repeat |As in Common Navigation Block |8-37 |30 |MMSI |mmsi |Unsigned Integer: 9 digits |38-39 | 2 |Spare | |Not used |40-57 |18 |NE Longitude |ne_lon |Same as broadcast type 22 |58-74 |17 |NE Latitude |ne_lat |Same as broadcast type 22 |75-92 |18 |SW Longitude |sw_lon |Same as broadcast type 22 |93-109 |17 |SW Latitude |sw_lat |Same as broadcast type 22 |110-113 | 4 |Station Type |station_type |Unsigned Integer, see below |114-121 | 8 |Ship Type |ship_type |As for Message type 5 |122-143 |22 |Spare | |Not used |144-145 | 2 |Tx/Rx Mode |txrx |Transmit/receive mode; see below, |146-149 | 4 |Report Interval |interval |Station report interval; see below |150-153 | 4 |Quiet Time |quiet |0 = none, 1-15 quiet time in minutes |154-159 | 6 |Spare | |Not used |============================================================================== The target set of mobile stations is specified by the station-type and ship-type fields. An addressed (non-broadcast) message 22 overrides a message 23, but a message 23 ovewrrides a broadcast message 22. Note that the 'not available' values for longitude and latitudes match the short ones used in messages 17 and 22, not the long ones used in the common navigation block and elsewhere. The txrx field tells the affected stations which channel or channels they may transmit on. The options refer to the same A and B VHF channels as in Message Type 22. The field is interpreted as follows: .Transmit-Mode Table [width="25%",frame="topbot"] |=================================== |0 = |TxA/TxB, RxA/RxB (default) |1 = |TxA, RxA/RxB |2 = |TxB, RxA/RxB |3 = |Reserved for Future Use |=================================== .Station Type Table [width="50%",frame="topbot"] |====================================================== |0 |All types of mobiles (default) |1 |Reserved for future use |2 |All types of Class B mobile stations |3 |SAR airborne mobile station |4 |Aid to Navigation station |5 |Class B shipborne mobile station (IEC62287 only) |6-9 |Regional use and inland waterways |10-15 |Reserved for future use |====================================================== Reporting Interval is a 4 bit unsigned integer, how often to report while within the area specified by this message. When the dual-channel operation is suspended by Tx/Rx mode command 1 or 2, the reporting interval is twice the interval given in the table. .Interval Table [width="50%",frame="topbot"] |====================================================== |0 |As given by the autonomous mode |1 |10 Minutes |2 |6 Minutes |3 |3 Minutes |4 |1 Minute |5 |30 Seconds |6 |15 Seconds |7 |10 Seconds |8 |5 Seconds |9 |Next Shorter Reporting Interval |10 |Next Longer Reporting Interval |11-15 |Reserved for future use |====================================================== Quiet Time is a 4 bit unsigned integer specifying how many minutes affected stations are to remain silent. If a class B station receives a quiet time command, it will continue to schedule nominal transmission time periods, but is not to transmit message 18 or 24 during the quiet period. === Type 24: Class B CS Static Data Report === Equivalent of a Type 5 message for ships using Class B equipment. A "Type 24" may be in part A or part B format; either is 168 bits. Parts A and B are expected to be broadcast in adjacent pairs. The interpretation of some fields in Type B format changes depending on the range of the Type B MMSI field. <> does not describe this message type; format information is thanks to Kurt Schwehr. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description | Member | Units |0-5 | 6 | Message Type | type | Unsigned integer: 19 |6-7 | 2 | Repeat Indicator | repeat | As in CNB |8-37 | 30 | MMSI | mmsi | Unsigned integer: 9 digits |38-39 | 2 | Part Number | partno | Unsigned integer: 0-1 |40-159 |120 | Vessel Name | shipname | (Part A) 20 six-bit chars |160-167 | 8 | Spare | | (Part A) Not used |40-47 | 8 | Ship Type | shiptype | (Part B) As in Message Type 5 |48-89 | 42 | Vendor ID | vendorid | (Part B) 7 six-bit chars |90-131 | 42 | Call Sign | callsign | (Part B) As in Message Type 5 |132-140 | 9 | Dimension to Bow | to_bow | (Part B) Unsigned int: Meters |141-149 | 9 | Dimension to Stern | to_stern | (Part B) Unsigned int: Meters |150-155 | 6 | Dimension to Port | to_port | (Part B) Unsigned int: Meters |156-161 | 6 | Dimension to Starboard| to_starboard | (Part B) Unsigned int: Meters |132-161 | 30 | Mothership MMSI | mothership_mmsi| (Part B) See below |162-167 | 6 | Spare | | (Part B) Not used |=============================================================================== If the Part Number field is 0, the rest of the message is interpreted as a Part A; if it is 1, the rest of the message is interpreted as a Part B; values 2 and 3 are not allowed. The "Vendor ID" field is the name of the AIS equipment vendor. Interpretation of the 30 bits 132-162 in Part B is variable. If the MMSI at 8-37 is that of an auxiliary craft, the entry is taken to refer to a small attached auxiliary vessel and these 30 bits are read as the MMSI of the mother ship. Otherwise the 30 bits describe vessel dimensions as in Message Type 5. According to <>, an MMSI is associated with an auxiliary craft when it is of the form 98MIDXXXX where the digits 3, 4 and 5 represent the MID and X is any figure from 0 to 9. === Type 25: Binary Message, Single Slot === Maximum of 168 bits (a single slots). Fields after the Destination MMSI are at variable offsets depending on tht flag and the Destination Indicator; they always occur in the same order but some may be omitted. [frame="topbot",options="header"] |============================================================================== |Field |Len |Description | Member | Units |0-5 | 6 | Message Type | type | Unsigned integer: 25 |6-7 | 2 | Repeat Indicator | repeat | As in CNB |8-37 | 30 | MMSI | mmsi | Unsigned integer: 9 digits |38 | 1 | Destination indicator | addressed | 0=broadcast,1=addressed |39 | 1 | Binary data flag | structured | See below |40 |0/30 | Destination MMSI | dest_mmsi | Message destination |? |0/16 | Application ID | app_id | Unsigned integer |? |0-128 | Data | data | Binary data |=============================================================================== If the 'addressed' flag is on, 30 bits of data at offset 40 are interpreted as a destination MMSI. Otherwise that field span becomes part of the message payload, with the first 16 bits used as an Application ID if the 'structured' flag is on. If the 'structured' flag is on, a 16-bit application identifier is interpreted. Otherwise that field span becomes part of the message payload. The data fields is not, in contrast to message type 26, followed by a radio status block. === Type 26: Binary Message, Multiple Slot === Maximum of 1064 bits (up to 5 slots). [frame="topbot",options="header"] |============================================================================== |Field |Len |Description | Member | Units |0-5 | 6 | Message Type | type | Unsigned integer: 25 |6-7 | 2 | Repeat Indicator | repeat | As in CNB |8-37 | 30 | MMSI | mmsi | Unsigned integer: 9 digits |38 | 1 | Destination indicator| addressed | 0=broadcast,1=addressed |39 | 1 | Binary data flag | structured | See below |40 |0/30 | Destination MMSI | dest_mmsi | Message destination |? |0/16 | Application ID | app_id | Unsigned integer |? |0-1004| Data | data | Binary data |? |20 | Radio status | radio | See <> for details. |=============================================================================== The data field may span up to 5 256-bit slots in addition to the tail end of the base slot. Documentation says the data length of each slot is 224 and adds the note "Allows for 32 bits of bit-stuffing." The 20 radio status bits are always present after end-of-data in the last slot and are in the format specified by <>. == Local extensions == Some regional authorities extend the AIS message set. The St. Lawrence Seaway broadcasts hydrological and lock-scheduling messages using special encodings of the binary data of message types 6 and 8 (described in <>, freely available), and safety information using types 12 and 14. The U.S. Coast Guard has a system called PAWSS (Port and Water Safety System) which uses extended AIS binary formats. <> says it's intercompatible with the St. Lawrence Seaway system; I have not been able to find any message documentation on PAWSS with which to verify this, however. === U.S. Coast Guard Extended AIVDM === You may occasionally see AIVDM packets with additional comma-separated fields following the CRC-32 checksum. This is a semi-obsolescent logging format used by the USCG, which has never documented it well and plans to replace it with a new one based on NMEA 4.0. Here's a sample sentence and field breakdown: ------------------------------------------------------------------------------- !AIVDM,1,1,,B,15Cjtd0Oj;Jp7ilG7=UkKBoB0<06,0*63,s1234,d-119,T12.34567123,r003669958,1085889680 ------------------------------------------------------------------------------- Following the "*63" checksum are additional fields delimited by commas. These fields provide additional metadata about the reception of each AIS broadcast. The field beginning with the lower case "s" is a Relative Signal Strength Indicator (RSSI) measurement from the receiver. This measurement has a range of 0-65535. This is one of the parameters used internally by the AIS receiver to determine the signal strength value as reported in the field beginning with the lower case "d". This field only exists when the AIS receiver provides this data. The field beginning with a lower case "d" is the signal strength measurement for this broadcast in dBm. This field only exists when the AIS receiver provides this data. The field beginning with the upper case "T" is the Time of Arrival of the received broadcast in seconds from UTC 0. This field only exists when the AIS receiver provides this data. Another optional field not shown is one that begins with an upper case "S" and represents the slot number in which the reception occurred. The field would appear after the checksum and before the station identifier field. This field only exists when the AIS receiver provides this data. Example: S0042 The field beginning with the lower case "r" is a station identifier field. This field is always provided, regardless of the type of AIS equipment. (Occasionally a base station identifier will be prefixed with "b" instead.) The last field is a time tag based on the standard C programming language time function. Both date and time to the nearest second can be derived from this field. This field is always provided, regardless of the type of AIS equipment. == AIS feed sites == Most sites that advertise "live" AIS feeds actually give you a map display through a browser. Here are a few from which you can get raw sentence data over a TCP/IP port for testing. Coverage on these is not yet very comprehensive; these sites tend to have good coverage in Europe, the U.S. and a few ports in Asia but to be spotty elsewhere. See their siting maps for details. - http://aishub.net[AIS Hub]: Share alike. You contribute a feed, you get back all feeds. - http://www.aislive.com/[AIS Live]: Subscription access to real-time data, free access to time-delayed data. - hd-sf.com:9009 Free San Francisco Bay Area AIS feed. For non-commercial use only. == JSON-AIS encoding == Here is an application of the JSON metaformat to present AIS data in a form more convenient for application use than AIVDM/AIVDO sentences. This encoding is implemented by GPSD and its client libraries. It is decribed here because (a) the specification is closely tied to the field encodings, and (b) the author wishes to offer it as an interoperability standard for other applications. One previous effort, <>, has been made to define a JSON-based standard for exchange of unpacked, human-readable AIS data. The latest version at time of writing, from December 2008,covers only a small subset of the most common AIS messages, and many data fields in the messages it does dump are omitted. The member names given in the bit-field tables match the attributes used in HAM-JSON-AIS when HAM-JSON-AIS includes that field. The general ground rules for JSON-AIS encoding are as follows: 1. Each sentence is a JSON object. 2. When multiple kinds of JSON objects may occur in a data stream, AIS objects have the attribute "class":"AIS". 3. To avoid ambiguity, AIS fields with special values meaning that the data is not available are *not* omitted. 4. Collections of fields aggregating to a timestamp are dumped in ISO8601 format. Messages for which this rule is relevant are type 4 and type 5. 5. There are two variants of the encoding, one scaled and one unscaled, which differ in the treatment of float and controlled-vocabulary fields. An AIS-JSON object may have the optional attribute "scaled":true to signify that the rest of its fields are scaled; if this attribute has the value 'false' or is omitted, no scaling has been performed. Message types for which the unscaled and scaled dumps will differ are 1-5, 9, 11, 17-19, and 21-24. 6. In unscaled mode, float-valued fields are dumped in their unscaled integer form. In scaled mode, division or other specified scaling is applied and the value dumped as a float, *except* that certain extreme or data-unavailable value as may be dumped as fixed strings; see the table below. 7. In unscaled mode, the values of controlled-vocabulary fields are dumped as integer indices. In scaled mode, the values are dumped as strings. .Special fields [frame="topbot",options="header"] |=========================================================================== |Message | Float fields | Controlled vocabularies | 1-3 | turn, speed, lon, lat | - | 4, 11 | lon, lat | epfd | 5 | draught | shiptype, epfd | 9 | alt, speed | - | 17-18 | lon, lat | - | 19 | lon, lat | shiptype, epfd | 21 | lon, lat | aid_type, epfd | 22-23 | ne_lon,ne_lat, sw_lon, sw_lat | - | 24 | - | shiptype |=========================================================================== .String special values in scaled mode [frame="topbot",options="header"] |=========================================================================== |Message | Fieldname | Special values | 1-3 | turn | "nan" = not available, "fastright" = fast right turn (above 127 degrees), "fastleft" = fast left turn (above 127 degrees). | 1-3 | speed | "nan" = not available, "fast" = speed >= 102.3 knots | 9 | alt | "nan" = not available, "high" = alt >= 4094 meters | 9 | speed | "nan" = not available, "fast" = speed >= 1023.0 knots |=========================================================================== == References == [bibliography] - [[[AIS]]] http://en.wikipedia.org/wiki/Automatic_Identification_System[Automatic Identification System] - [[[ITU1371]]] http://www.itu.int/rec/R-REC-M.1371-2-200603-I/en[ITU-R M.1371: ITU Recommendation on the Technical Characteristics for a Universal Shipborne Automatic Identification System (AIS) using Time Division Multiple Access in the Maritime Mobile Band]. Reference included for completeness; I have not looked at it. - [[[IALA]]] http://www.ialathree.org/iala/pages/AIS/IALATech1.5.pdf[IALA Technical Clarifications on Recommendation ITU-R M.1371-1] - [[[NAVCEN]]] http://www.navcen.uscg.gov/enav/ais/[NAVCEN AIS pages] - [[[NMEA]]] http://gpsd.berlios.de/standards/NMEA.txt[NMEA sentences] - [[[SEAWAY]]] http://www.greatlakes-seaway.com/en/pdf/aisdata.pdf[St. Lawrence Seaway AIS Data Messaging Formats and Specifications] - [[[Schwehr]]] http://schwehr.org/blog/[Kurt Schwehr's weblog] - [[[IEC-PAS]]] IEC-PAS 61162-100, "Maritime navigation and radiocommunication equipment and systems" The six-bit encoding is described on page 26 of Annex C, Table C-1. Communicated by Kurt Schwehr; I have not looked at it. - [[[IEC 62287]]] "Maritime Navigation and Radiocommunication Equipment and Systems – Class B Shipborne Equipment of the Automatic Identification System (AIS)" Communicated by Mike Greene; I have not looked at it. - [[[ITU-MID]]] http://www.itu.int/cgi-bin/htsh/glad/cga_mids.sh?lng=E[Table of Maritime Identification Digits] - [[[RAIM]]] http://en.wikipedia.org/wiki/RAIM[Receiver Autonomous Integrity Monitoring] - [[[C2]]] http://www.uais.org/AISspecificationCorrigendum2.pdf[AIS Specification Corrigendum 2] - [[[MMSI]]] http://www.navcen.uscg.gov/marcomms/gmdss/mmsi.htm#format[MMSI Format] - [[[HAM-JSON-AIS]]] http://wiki.ham.fi/JSON_AIS.en[JSON AIS transmission protocol] - [[[AISHUB]]] http://www.aishub.net/[AIS Hub, the AIS data sharing center] == Change history == Version 1.0 was the initial release covering messages 1-3, 4, and 5. Version 1.1 adds message breakdowns for 9 and 18, explanation of the Repeat Indicator feld, and the explanation of USCG extended AIVDM. Version 1.2 adds information on the the ITU1371 edition 3 maneuver field, and the RAIM flag. It also adds an important clarification about six-bit decoding. Version 1.3 adds information on message types 6, 7, 12, and 13, and attempts to demystify bit-stuffing. Version 1.4 adds explicit decoding tables for ASCII armoring and six-bit ASCII. Version 1.5 corrects the interpretation of field 7 in AIVDM ASCII-armored sentences. Version 1.6 corrects some minor errors in the interpretation of Type 5 messages. Version 1.7 adds descriptions for Type 10, 11, 19, 21, and 24 messages, information about ITU-1371-3 flags in message type 18, and the new section on Improving This Document. Version 1.8 fixes some broken markup and adds information about JSON-AIS. Version 1.9 adds more information on JSON and the member names. Version 1.10 fixes a typo in the formula for undoing 6-bit armoring. Version 1.11 describes message types 15, 16, and 17. Version 1.12 describes messages 20 and 22, and adds navigation aid type codes. Version 1.13 documents more out-of-band values and treats radio status blocks more uniformly. Version 1.14 documents message 23. Version 1.15 corrects an incorrect member name in message 5. It didn't match my C code, but had no effect on conformance with the standard. I corrected it because it confused someone working on a Python decoder. Version 1.16 incorporated various minor fixes and corrections from Neal Arundale. One 'standard' fieldname changed, in message type 21: type -> aid_type. Version 1.17 clarifies the role of @ as a terminator in 6-bit text. Version 1.18 notes a possible off-by-two error in the standards' description of type 14, and noted that type 25 and 26 have not been observed in the wild. It also adds a more complete description of AIS data types and some pragmatics about spare and reserved fields. Version 1.19 adds a description of AIS Hub. Version 1.20 adds a list of AIS feed sites - just two, so far. Version 1.21 describes JSON-AIS more completely. It adds descriptions for AIS messages type 25 and 26, not yet observed in the wild. Version 1.22 describes the problem with message length checks. Notes on EPFD value 15 and shiptype values > 99 are added. Added another AIS feed. Corrections and more details on message 22.