Specifications

Command/Response Formats 159
Commands
The range residuals are re-computed after the GGA position is computed, therefore the mode is
always 1.
Example:
Query: $PASHQ,GRS <enter>
Response:
$GPGRS,203227.50,1,-007.916,051.921,-048.804,-026.612,
-002.717,021.150*63 <enter>
Table 6.90 on page 159 describes each item in a typical GRS message.
GSA: DOP and Active Satellite Messages
$PASHS,NME,GSA,c,s
This command enables/disables the DOP and active satellite message to be sent out to
serial port c, where c is port A, B, C, or D, and s is ON or OFF.
f3 Range residuals for satellite used in position computation. The order of
the residuals matches the order of the satellites in the GSV message.
±999.999
*cc checksum
Table 6.90: Typical GRS Message
Item Significance
$GPGRS Header
203227.50 UTC time of GGA position
1 Residuals computed after GGA position was computed
-007.916 Range residuals of the first satellite
051.921 Range residuals of the second satellite
-048.804 Range residuals of the third satellite
-026.612 Range residuals of the fourth satellite
-002.717 Range residuals of the fifth satellite
021.150 Range residuals of the sixth satellite
*63 checksum
Table 6.89: GRS Message Structure (continued)
Parameters Description Range