ashtech DG16 - PBN: Raw Position Data

Raw Data Commands 211
Raw Data Commands
Enter the following command to set the minimum number of satellites to 1:
$PASHS,MSV,1
PBN: Raw Position Data
$PASHS,RAW,PBN,c1,s2,[f1]
This command enables or disables the position data (PBN) messages, where c1 is
port A, B or C (optional port), s2 is ON or OFF, and f1 is the optional numeric output
interval setting supporting a range of 0.05 to 999 seconds, depending on the
measurement update rate option installed.
$PASHQ,PBN,[c1]
This command allows to query for raw position data.
c1 is the optional port designator for the response. If a port is not specified, the
receiver sends the response to the current port.
$PASHR,PBN
The PBN message contains raw position data, including the time at which the data
was received, antenna position, antenna velocity, receiver clock offset, and PDOP.
The message is output in the format:
$PASHR,PBN,<Raw Position Data + Checksum>
Table 7.15 outlines the message format.
DEFAULT SETTING
MSV 3
Table 7.15. PBN Data String
Field Bytes Content
long rcvtime 4 Signal received time in milliseconds of week of GPS time. This is the
time tag for all measurements and position data
char sitename 4 4 character string (user entered)
double navx 8 X coordinate of the antenna position (ECEF) in meters
double navy 8 Antenna position ECEF y coordinate in meters
double navz 8 Antenna position ECEF z coordinate in meters
float navt 4 Receiver clock offset in meters
float navxdot 4 The antenna x velocity in meters per second