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Command Response Formats Page 91

Command

where the fields are as defined in Table 4.36.

Example:

$PASHQ,UBN,0.0,+1,1.0

$PASHR,UBN

The response is a message in the form

$PASHR,UBN,<binary data length><binary data>

where the structure is as defined in Table 4.37.

Table 4.36: UBN Structure

Field Description

g GPS time since 1/5/80 in seconds

n Number of solutions and head/tail selector

t Time interval between output solutions constant 1 second

x Port for message output, A or B

Table 4.37: UBN Response Structure

Field Description

<binary data length> Number of bytes in <binary data>

<binary data> Integer array as follows:

Solution GPS time (inside week)

Solution type:

bits 7 and 6 display solution dimension:

bit 7 bit 6

0 0 no solution

0 1 2D solution (RTCM and autonomous modes)

1 0 3D solution

bits 1 and 0 display solution method

0 0 autonomous mode

0 1 RTCM mode

1 0 usual CPD mode

1 1 fast CPD mode

CPD flag

bit 3 - if cycle slips detected

bit 3 - if ambiguities are floating

bit 1 - if solution is projected

bit 0 - if there were Kalman filter reset

Number of satellites used/available for position solution

Rover site ID

Latitude of position -pi/2(S) through +pi/2 (N) radians

1 2 ... 102 103 104 105 106 107 108 109 110 111 112 ... 189 190

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Ashtech Z-sensor Manuel d'instructions Page 107