u-blox ZED-F9P Interface Description - Manual
Advance Information
GRS continued
Field
No.
Name Unit Format Example Description
1 time - hhmmss.ss 082632.00 UTC time of associated position fix, see note on
UTC representation
2 mode - digit 1 Mode (see table below), u-blox receivers will always
output Mode 1 residuals
Start of repeated block (12 times)
3 +
1*N
residual m numeric 0.54 Range residuals for SVs used in navigation. The SV
order matches the order from the GSA sentence.
End of repeated block
15 systemId - numeric 1 NMEA defined GNSS System ID
NMEA v4.1 and above only
16 signalId - numeric 0 NMEA defined GNSS Signal ID (0 = All signals, see
Signal Identifiers table for other values)
NMEA v4.1 and above only
17 cs - hexadecimal *70 Checksum
18 <CR><LF> - character - Carriage return and line feed
Table Mode
Mode Description
0 Residuals were used to calculate the position given in the matching GGA sentence.
1 Residuals were recomputed after the GGA position was computed.
4.2.11 GSA
4.2.11.1 GNSS DOP and Active Satellites
Message
GSA
Description
GNSS DOP and Active Satellites
Firmware
Supported on:
• u-blox 9 with protocol version 27
Type
Output Message
Comment
The GNSS receiver operating mode, satellites used for navigation, and DOP values.
• If less than 12 SVs are used for navigation, the remaining fields are left empty. If more
than 12 SVs are used for navigation, only the IDs of the first 12 are output.
• The SV numbers (fields 'sv') are in the range of 1 to 32 for GPS satellites, and 33 to 64
for SBAS satellites (33 = SBAS PRN 120, 34 = SBAS PRN 121, and so on)
In a multi-GNSS system this message will be output multiple times, once for each
GNSS.
ID for CFG-MSG Number of fields
Message Info
0xF0 0x02 21
Message Structure:
$xxGSA,opMode,navMode{,sv},PDOP,HDOP,VDOP,systemId*cs<CR><LF>
Example:
$GPGSA,A,3,23,29,07,08,09,18,26,28,,,,,1.94,1.18,1.54,1*0D
Field
No.
Name Unit Format Example Description
UBX-18010854 - R04 Advance Information Page 20 of 259
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