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Command/Response Formats 143
Commands
$PASHR,ALM
The response is a binary message in the form:.
$PASHR,ALM,(almanac structure) <enter>
This message only exists in binary format. If ASCII format is requested (default), only the header
will be sent ($PASHR, ALM).
The almanac structure is defined in Table 6.76.
Table 6.76: ALM Message Structure
Type Size Contents
short 2 (Satellite PRN -1)
short 2 Health. see ICD-200 for description
float 4 e. Eccentricity
long 4 toe. Reference time for orbit (sec)
float 4 I0. Inclination angle at reference time (semi-circles).
float 4 OMEGADOT. Rate of right Asc. (semi-circles per sec).
double 8 (A)1/2. Square root of semi-major axis (meters 1/2).
double 8 (OMEGA)0. Lon of Asc. node (semi-circles).
double 8
ω. Argument of Perigee (semi-circles)
double 8 M0. Mean anomaly at reference time (semi-circle).
float 4 af0. sec
float 4 af1. sec/sec.
short 2 almanac week number
short 2 GPS week number
long 4 Seconds of GPS week
unsigned
short
2 Word checksum
Total bytes 70
- Z-Family 1
- Technical Reference Manual 1
- Trademarks 3
- Table of Contents 5
- List of Figures 13
- List of Tables 15
- Introduction 21
- Receiver Options 22
- [B] RTCM Base 23
- [U] RTCM Remote 23
- [E] Event Marker 23
- REMOTE.EXE to access and 24
- Operation 25
- PCMCIA File Structure 26
- File Types 27
- File Naming Convention 28
- Session Programming 30
- Position Mode/ALT Fix Mode 31
- Daisy Chain Mode 31
- Point Positioning 32
- Remote Monitoring 32
- Event Marker 32
- 1PPS Out 35
- Data Output 35
- Transferring GPS Data 36
- Synchronization to GPS Time 36
- Default Parameters 37
- Operation 19 39
- Multipath Mitigation 41
- Signal to Noise Ratio 43
- Antenna Reduction 44
- Base Stations 47
- RTCM 18 & 19 48
- RTCM 20 & 21 49
- Ashtech DBN Format 50
- Differential and RTK 51
- Message Rate 52
- Mask Angle 56
- Base Station Position 56
- Base Station Antenna Offset 57
- Using Reference Station ID 57
- Reference Station Health 57
- Other RTCM Messages 57
- Remote Stations 58
- Using RTCM Messages 59
- Using Ashtech DBN Messages 60
- Base Station Data 61
- Base Data Latency 62
- Float and Fixed Solutions 64
- Carrier Phase Initialization 65
- LatError() 66
- LonError() 66
- Mask Angles 67
- Auto Differential Mode 67
- RTCM Messages 67
- Understanding RTK/CPD 71
- Data Link Monitor 72
- Real-time Solution Output 72
- Vector Solution Output 73
- Solution Storage 74
- Troubleshooting 75
- CPD Solution Parameters 77
- Dynamics: $PASHS,CPD,DYN 78
- Fast CPD: $PASHS,CPD,FST 79
- Multipath: $PASHS,CPD,MTP 79
- Rate: $PASHS,CPD,PER 79
- Universal RTCM Base Station 80
- Understanding 81
- Coordinate Transformation 83
- Interpretation 84
- Datum to Grid 87
- Projection Types 88
- Coordinate Transformation 69 89
- Figure 5.4: Oblique Mercator 89
- Figure 5.5: Stereographic 89
- Elevation Modeling 90
- Command/Response Formats 91
- Receiver Commands 93
- Command/Response Formats 75 95
- ALT: Set Ellipsoid Height 97
- ANH: Set Antenna Height 97
- ANT: Set Antenna Offsets 98
- BEEP: Beeper Set-up 100
- CTS: Port Protocol Setting 101
- DSC: Store Event String 101
- DSY: Daisy Chain 101
- ELM: Recording Elevation Mask 102
- EPG: Epoch Counter 102
- FIL,D: Delete a File 103
- FIX: Altitude Fix Mode 103
- FIL,C: Close a File 103
- Commands 105
- HDP: HDOP Mask 106
- INF: Set Session Information 106
- INI: Receiver Initialization 108
- ION: Set Ionospheric Model 109
- LPS: Loop Tracking 110
- LTZ: Set Local Time Zone 111
- MDM: Set Modem Parameters 112
- Parameters Description Range 117
- PDP: PDOP Mask 119
- PEM: Position Elevation Mask 119
- PJT: Log Project Data 121
- PMD: Position Mode 122
- POS: Set Antenna Position 122
- POW: Battery Parameters 123
- PPO: Point Positioning 124
- PPS: Pulse Per Second 124
- PRT: Port Setting 125
- PWR: Sleep Mode 126
- RCI: Recording Interval 126
- REC: Data Recording 126
- RID: Receiver ID 127
- RNG: Data Type 128
- RTR: Real-Time Error 129
- SAV: Save User Parameters 129
- SES: Session Programming 129
- SID: Serial Number 132
- SIT: Set Site Name 132
- SPD: Serial Port Baud Rate 133
- STA: Satellite Status 133
- SVS: Satellite Selection 134
- TLT : Tiltmeter Set-up 135
- TLT,INTVL: Tiltmeter Interval 136
- TST:Output RTK Latency 137
- UNH: Unhealthy SVs 137
- USE: Use Satellites 137
- VDP: VDOP Mask 137
- WAK: Warning Acknowledgment 138
- WARN: Warning Messages 138
- Command/Response Formats 119 139
- Command/Response Formats 121 141
- WKN: GPS Week Number 142
- Raw Data Commands 143
- Query Commands 144
- CBN: CBEN Message 145
- Command/Response Formats 129 149
- DBN: DBEN Message 150
- Command/Response Formats 131 151
- EPB: Raw Ephemeris 152
- MBN: MBN Message 154
- Command/Response Formats 135 155
- Command/Response Formats 137 157
- PBN: Position Data 159
- RAW: Query Raw Data Parameter 161
- SAL: Almanac Data 162
- SNV: Ephemeris Data 164
- Command/Response Formats 145 165
- NMEA Message Commands 166
- ALM: Almanac Message 168
- GDC: User Grid Coordinate 172
- GGA: GPS Position Message 174
- MSG: Base Station Message 186
- PER: Set NMEA Send Interval 191
- POS: Position Message 191
- PTT: Pulse Time Tag message 193
- RRE: Residual Error 196
- SAT: Satellite Status 198
- TTT: Event Marker 199
- UTM: UTM Coordinates 200
- Command/Response Formats 181 201
- $PASHR,UTM 201
- VTG: Velocity/Course 202
- XDR: Transducer Measurements 204
- ZDA: Time and Date 205
- -20 Local zone offset (min) 206
- Query: RTCM Status 208
- Command/Response Formats 189 209
- AUT: Auto Differential 210
- BAS: Enable Base Station 211
- EOT: End of Transmission 211
- INI: Initialize RTCM 211
- MAX: Max Age 211
- REM: Enable Remote RTCM 212
- MSG: Define Message 212
- OFF: Disable RTCM 212
- QAF: Quality Factor 212
- SEQ: Check Sequence Number 213
- SPD: Base Bit Rate 213
- STH: Station Health 214
- STI: Station ID 214
- TYP: Message Type 215
- CPD Commands 216
- CPD: RTK Status 218
- Command/Response Formats 199 219
- AFP: Ambiguity Fixing 220
- ANT: Antenna Parameters 220
- DLK: Data Link Status 222
- DYN: Rover Dynamics 224
- ENT: Use Current Position 225
- FST: Fast CPD Mode 226
- INF: CPD Information 226
- MOD: CPD Mode 227
- MTP: Multipath 229
- Command/Response Formats 211 231
- OUT: Solution Output 232
- PEB: Base Broadcast Interval 232
- PED: DBEN Transmission Period 233
- PER: CPD Update Interval 233
- POS: Set Base Position 234
- PRT: Port Output Setting 235
- RST: Reset CPD 235
- STS: CPD Solution Status 235
- UBP: Use Base Position 236
- DTM: Datum Selection 238
- FUM: Fix UTM Zone 238
- FZN: Set UTM Zone to Fix 239
- HGT: Height Model Selection 240
- UDD: User Defined Datum 240
- Reference A-1 247
- Reference 249
- Global Product Support 251
- Corporate Web Page 253
- Ashtech Bulletin Board 253
- Supported Protocols 254
- Repair Centers 255
- Numerics 259
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