diff --git a/lib/boatData/GwBoatData.h b/lib/boatData/GwBoatData.h
index 6747cf1..deaeaf6 100644
--- a/lib/boatData/GwBoatData.h
+++ b/lib/boatData/GwBoatData.h
@@ -115,6 +115,10 @@ static double formatCourse(double cv)
     {
         return m / 1852;
     }
+    static double mtr2nm(double m)
+    {
+        return m / 1852;
+    }
 
     static double kelvinToC(double v){
         return v-273.15;
@@ -148,6 +152,11 @@ class GwBoatData{
     GWBOATDATA(double,WaterDepth,4000,NULL)
     GWBOATDATA(double,SecondsSinceMidnight,4000,NULL)
     GWBOATDATA(double,WaterTemperature,4000,&kelvinToC)
+    GWBOATDATA(double,XTE,4000,NULL)
+    GWBOATDATA(double,DTW,4000,&mtr2nm)
+    GWBOATDATA(double,BTW,4000,&formatCourse)
+    GWBOATDATA(double,WPLatitude,4000,NULL)
+    GWBOATDATA(double,WPLongitude,4000,NULL)
     GWBOATDATA(uint32_t,Log,0,&mtr2nm)
     GWBOATDATA(uint32_t,TripLog,0,&mtr2nm)
     GWBOATDATA(uint32_t,DaysSince1970,4000,NULL)
diff --git a/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp b/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
index f6d6008..ef4af8b 100644
--- a/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
+++ b/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
@@ -47,7 +47,43 @@ private:
     double dummy = 0;
     ConverterList<NMEA0183DataToN2KFunctions, SNMEA0183Msg> converters;
     std::map<unsigned long,unsigned long> lastSends;
+    class WaypointNumber{
+        public:
+            unsigned long id;
+            unsigned long lastUsed;
+            WaypointNumber(){}
+            WaypointNumber(unsigned long id,unsigned long ts){
+                this->id=id;
+                this->lastUsed=ts;
+            }
+    };
+    std::map<String,WaypointNumber> waypointMap;
+    unsigned long waypointId=0;
+    const size_t MAXWAYPOINTS=100;
     
+    unsigned long getWaypointId(const char *name){
+        String wpName(name);
+        auto it=waypointMap.find(wpName);
+        if (it != waypointMap.end()){
+            it->second.lastUsed=millis();
+            return it->second.id;
+        }
+        unsigned long now=millis();
+        auto oldestIt=waypointMap.begin();
+        if (waypointMap.size() > MAXWAYPOINTS){
+            LOG_DEBUG(GwLog::DEBUG+1,"removing oldest from waypoint map");
+            for (it=waypointMap.begin();it!=waypointMap.end();it++){
+                if (oldestIt->second.lastUsed > it->second.lastUsed){
+                    oldestIt=it;
+                }
+            }
+            waypointMap.erase(oldestIt);
+        }
+        waypointId++;
+        WaypointNumber newWp(waypointId,now);
+        waypointMap[wpName]=newWp;
+        return newWp.id;
+    }
     bool send(tN2kMsg &msg,unsigned long minDiff=50){
         unsigned long now=millis();
         unsigned long pgn=msg.PGN;
@@ -82,6 +118,58 @@ private:
     void convertRMB(const SNMEA0183Msg &msg)
     {
         LOG_DEBUG(GwLog::DEBUG + 1, "convert RMB");
+        tRMB rmb;
+        if (! NMEA0183ParseRMB_nc(msg,rmb)){
+            logger->logDebug(GwLog::DEBUG, "failed to parse RMC %s", msg.line);
+            return;   
+        }
+        tN2kMsg n2kMsg;
+        if (boatData->XTE->update(rmb.xte,msg.sourceId)){
+            tN2kXTEMode mode=N2kxtem_Autonomous;
+            if (msg.FieldCount() > 13){
+                const char *modeChar=msg.Field(13);
+                switch(*modeChar){
+                    case 'D':
+                        mode=N2kxtem_Differential;
+                        break;
+                    case 'E':
+                        mode=N2kxtem_Estimated;
+                        break;
+                    case 'M':
+                        mode=N2kxtem_Manual;
+                        break;
+                    case 'S':
+                        mode=N2kxtem_Simulator;
+                        break;
+                    default:
+                        break;    
+
+                }
+            }
+            SetN2kXTE(n2kMsg,1,mode,false,rmb.xte);
+            send(n2kMsg);
+        }
+        if (boatData->DTW->update(rmb.dtw,msg.sourceId)
+            && boatData->BTW->update(rmb.btw,msg.sourceId)
+            && boatData->WPLatitude->update(rmb.latitude,msg.sourceId)
+            && boatData->WPLongitude->update(rmb.longitude,msg.sourceId)
+            ){
+            SetN2kNavigationInfo(n2kMsg,1,rmb.dtw,N2khr_true,
+                false,
+                (rmb.arrivalAlarm == 'A'),
+                N2kdct_GreatCircle, //see e.g. https://manuals.bandg.com/discontinued/NMEA_FFD_User_Manual.pdf pg 21
+                N2kDoubleNA,
+                N2kUInt16NA,
+                N2kDoubleNA,
+                rmb.btw,
+                getWaypointId(rmb.originID),
+                getWaypointId(rmb.destID),
+                rmb.latitude,
+                rmb.longitude,
+                rmb.vmg
+            );
+            send(n2kMsg);
+        }
     }
     #define UD(item) updateDouble(boatData->item, item, msg.sourceId)
     #define UI(item) updateUint32(boatData->item, item, msg.sourceId)
@@ -127,10 +215,11 @@ private:
 #define CVL [](const SNMEA0183Msg &msg, NMEA0183DataToN2KFunctions *p) -> void
     void registerConverters()
     {
-        converters.registerConverter(129283UL, String(F("RMB")), &NMEA0183DataToN2KFunctions::convertRMB);
+        converters.registerConverter(129283UL,129284UL,129285UL,
+            String(F("RMB")), &NMEA0183DataToN2KFunctions::convertRMB);
         converters.registerConverter(
-            126992UL,129025UL,129026UL,127258UL, String(F("RMC")), 
-            &NMEA0183DataToN2KFunctions::convertRMC);
+            126992UL,129025UL,129026UL,127258UL, 
+            String(F("RMC")),  &NMEA0183DataToN2KFunctions::convertRMC);
     }
 
 public: