230 DG14 and DG16 Board & Sensor Reference Manual
$PASHQ,CRT,x
This command queries the CRT command, where x is the optional output port. If a
port is not specified, the receiver sends the response to the current port.
$PASHR,CRT
The Cartesian coordinates and velocities message contains information on the
antenna position, number of satellites, altitude, speed, velocity, and dilution of
precision. The message is output in the format:
$PASHR,CRT,d1,d2,m1,m2,m3,m4,f2,f3,f4,f5,f6,f7,f8,f9,f10,s*cc
Table 8.4 outlines the message format.
The ECEF coordinates reported are in the datum set by the user. ECEF coordinates are reported in
meters (with two decimal places) without leading zeros or positive signs.
Table 8.4. $PASHR,CRT Message Format
Parameter Description Range
d1 position solution type:
0 = autonomous
1 = position differentially corrected with RTCM code
2 = position differentially corrected with CPD float solution
3 = position is CPD fixed solution
0 to 3
d2 Number of satellites used in position computation 3 to 12
m1 Current UTS time, (hhmmss), of position computation in
hours, minutes, and seconds
00 to 235959.50
m2 Antenna position ECEF x coordinate in meters
m3 Antenna position ECEF y coordinate in meters
m4 Antenna position ECEF z coordinate in meters
f2 Receiver clock offset in meters
f3 X-component of velocity vector in m/s
f4 Y-component of velocity vector in m/s
f5 Z-component of velocity vector in m/s
f6 Receiver clock drift in m/s
f7 PDOP—position dilution of precision 0 to 99.9
f8 HDOP—horizontal dilution of precision 0 to 99.9
f9 VDOP—vertical dilution of precision 0 to 99.9
f10 TDOP—time dilution of precision 0 to 99.9
s*cc Firmware version ID 4 character string
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