ashtech DG14, Reference Manual

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240 DG14 and DG16 Board & Sensor Reference Manual
If the command is set without a period, the DG16 uses the period set by the
$PASHS,NME,PER command If the $PASHS,NME,PER command is issued after
this message period has been set, the period resets to the PER setting.
Example
Enter the following command to enable GRS message on port B.
$PASHS,NME,GRS,B,ON
$PASHQ,GRS,[c1]
This command queries the GRS message, where c1 is the optional port designator
for the output of the response. If a port is not specified, the receiver sends the
response to the current port.
$GPGRS
The GRS message contains current time, an indicator for the mode used to
calculate the residual error in the satellite pseudo-range, and the residual error
values for each locked satellite. The order in which the residual error values are
listed corresponds to the order in which the satellites are listed in the GSA message.
A minus sign (-) in front of the residual error value indicates a Residual pseudo-
range error is not calculated until at least five satellites are being used to compute
positions. The response is output in the format:
$GPGRS,m1,d2,(f3*n)*hh
Table 8.12 outlines the message format.
Table 8.12. $GPGRS Message Format
Parameter Description Range
m1 Current UTC time (hhmmss.ss) as taken from the GGA message 000000.00 to
235959.90
d2 Mode used to calculate residual errors in the pseudo-range
measurement (always 1):
• 0—Residual error values are calculated at the same time the
GGA position is computed
• 1—Residual error values are recalculated after the GGA
position is computed
0, 1
f3*n Pseudo-range residual error value. This field is repeated for each
satellite used in position computation, where f3 is the calculated
error value and n is the number of satellites (< 5) used in
computing positions. The order in which the error values are listed
matches the order in which the satellites are listed in the GSA
message -999.9 to 999.9
*hh Checksum 2-character hex