Specifications

158 Z-Family Technical Reference Manual
GRS: Satellite Range Residuals
$PASHS,NME,GRS,c,s
This command enables/disables the NMEA satellite range residual response message
to port c, where c is A, B, C, or D, and s is ON or OFF. If only four SVs are used in
the position solution, residuals are not computed and GRS outputs zeroes in the
residual fields. With 3 or less SVs, the message is not output.
Example: Enable GRS message on port C
$PASHS,NME,GRS,C,ON <enter>
$PASHQ,GRS,c
Query satellite range residual where c is the optional output serial port. The message
is not output unless position is being computed.
Example: $PASHQ,GRS <enter>
$GPGRS
The response message is in the form:
$GPGRS,m1,d2,n(f3)*cc <enter>
Where n is equal to the number of satellites used in the position solution.
202556.00 UTC time of position
A Status valid
*12 checksum
Table 6.89: GRS Message Structure
Parameters Description Range
m1 Current UTC time of GGA position in hours, minutes and seconds
(hhmmss.ss)
00-235959.90
d2 Mode used to compute range residuals
0: Residuals were used to calculate the position given in the matching
GGA line
1: Residuals were re-computed after the GGA position was computed or
post-fit residuals
0, 1
Table 6.88: Typical GLL Message (continued)
Item Significance