Instruction manual

Command Response Formats Page 91
Command
where the fields are as defined in Table 4.36.
Example:
$PASHQ,UBN,0.0,+1,1.0
$PASHR,UBN
The response is a message in the form
$PASHR,UBN,<binary data length><binary data>
where the structure is as defined in Table 4.37.
Table 4.36: UBN Structure
Field Description
g GPS time since 1/5/80 in seconds
n Number of solutions and head/tail selector
t Time interval between output solutions constant 1 second
x Port for message output, A or B
Table 4.37: UBN Response Structure
Field Description
<binary data length> Number of bytes in <binary data>
<binary data> Integer array as follows:
Solution GPS time (inside week)
Solution type:
bits 7 and 6 display solution dimension:
bit 7 bit 6
0 0 no solution
0 1 2D solution (RTCM and autonomous modes)
1 0 3D solution
bits 1 and 0 display solution method
0 0 autonomous mode
0 1 RTCM mode
1 0 usual CPD mode
1 1 fast CPD mode
CPD flag
bit 3 - if cycle slips detected
bit 3 - if ambiguities are floating
bit 1 - if solution is projected
bit 0 - if there were Kalman filter reset
Number of satellites used/available for position solution
Rover site ID
Latitude of position -pi/2(S) through +pi/2 (N) radians