NMEA Commands 239
NMEA Commands
Table 8.11 outlines the message format.
GRS: Satellite Range Residuals
$PASHS,NME,GRS,x,s,[f]
Enable or disable NMEA satellite range residual response message to port x, where
x is the output port, and s is ON or OFF, and f is the optional message output rate
ranging from 0.05 to 999 seconds depending on the measurement update rate
option installed.
The receiver does not output this message if a position is not computed.
Table 8.11. $GPGNS Message Format
Parameter Description Range
m1 UTC (hhmmss.ss) 0 to 235959.99
m2 Latitude (ddmm.mmmmmm 0 to 9000.000000
c3 Latitude sector N—North
S—South
m4 Longitude (dddmm.mmmmmm) 0 to 18000.000000
c5 Longitude sector E—East
W—West
d6 Positioning system mode indicator (one character for GPS,
one character for GLONASS)
• A—Autonomous mode
• D—Differential mode
• P—Precise. No SA and P-code
• R—Fixed RTK (N/A)
• F—Float RTK (N/A)
• N—No fix
NN, AA, DD, RR, FF, PP
d7 Total number of satellites used in the computation 0 to 99
d8 HDOP 0.0 to 9.9
f9 Geoidal height (altitude above MSL) in meters -1000.0 to 18000.0
f10 Geoidal separation in meters -99.9 to 99.9
f11 Age of differential corrections 0 to 999
d12 Base station ID 0 to 1023
*cc Checksum 2-character hex
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