Spectra Precision SP90m - NMEA Messages; ALR: Alarms; ARA: True Heading

122
NMEA Messages ALR: Alarms
$PASHR,ALR,d1,d2,c3,s4,d5,s6*cc
ARA: True Heading
This message delivers either pitch- OR roll-related data
(speed, accuracy), not both at the same time, depending on
how the antennas are installed.
$PASHR,ARA,f1,m2,f3,f4,f5,f6,f7,f8,f9*cc
Parameter Description Range
d1 Alarm code 0-255
d2 Alarm sub-code 0-255
c3
Stream ID reporting the alarm (if
relevant, otherwise blank field):
• A, B, F: Serial port
• U: USB serial port
• C, H, T: Bluetooth port
• D: Internal radio
• E: CSD modem
• P, Q: TCP/IP client stream
• I, J: TCP/IP client server
• M: G-file
A-F, H-J, M, P, Q, U
s4 Alarm category
BLUETOOTH, INPUT, MEM-
ORY
MODEM, NETWORK, OTHER,
POWER, PVT, RADIO, WIFI
d5
Alarm level:
• 0: Low
• 1: Medium
•2: High
0-2
s6 Description
*cc Checksum *00-*FF
Parameter Description Range
f1 “0” when message content is valid
m2
Current UTC time of attitude fix
(hhmmss.ss)
000000.00-235959.99
f3 Heading speed, in degrees/sec
“-”: Turn bow left
“+”: Turn bow right
f4 Pitch speed, in degrees/sec
“-”: Downwards
“+”: Upwards
f5 Roll speed, in degrees/sec
“-”: To port (left)
“+”: To starboard (right)
f6 Heading RMS accuracy, in degrees
f7 Pitch RMS accuracy, in degrees
f8 Roll RMS accuracy, in degrees
f9 (Empty)
*cc Checksum *00-*FF