Instruction manual

Page 110 Z-12 Real-Time Sensor Operation and Reference Manual
$GPMSG
The response message format depends upon the RTCM message type enabled: type 1
is enabled by default; types 3, 6, 9, and 16 must be enabled by the $PASHS,RTC,TYP
command.
The format for RTCM message types 1 and 9 is:
$GPMSG,rr,ssss,zzzz.z,s,h,ccc,hhmmss:ss,e,vv,spppp.pp,sr.rrr,iii*cc
where the fields are as defined in Table 4.57.
Message types 1 and 9 are identical except for the fact that message type 1 has correction information
(fields 9, 10, 11, 12, 13) for all satellites, and each message type 9 has correction information for up to
3 satellites per transmission.
Example 1:
$GPMSG,01,0000,2220.0,1,0,127,003702:00,2,12, 0081.30,
+0.026,235,2,13,+0022.86,+0.006,106,2,26,-0053.42,
-0.070,155,2,02,+0003.56,+0.040,120,2,27,+0047.42,-0.005,145*7A
Table 4.57: Structure for RTCM Message Types 1 and 9
Field Description
rr
2 rr = RTCM type, 01 or 09
ssss
station identifier, 0000 to 1023
zzzz.z
Z count in seconds and tenths, 0000.0 to 3600.0
s
sequence number, 0 to 7
h Station health, 0 to 7
ccc total number of characters after the time item, 000 to 999
hhmmss:ss current UTC time of position computation in hours, minutes and seconds
e user differential range error (UDRE)
vv satellite PRN number
spppp.pp pseudo-range correction (PRC) in meters
sr.rrr range rate correction (RRC) in meters/sec
iii issue of data (IODE
*cc checksum in hexadecima