ashtech DG16 Reference Manual page 250

$PASHQ,CRT,x
This command queries the CRT command, where x is the optional output port. If a
port is not specified, the receiver sends the response to the current port.
$PASHR,CRT
The Cartesian coordinates and velocities message contains information on the
antenna position, number of satellites, altitude, speed, velocity, and dilution of
precision. The message is output in the format:
$PASHR,CRT,d1,d2,m1,m2,m3,m4,f2,f3,f4,f5,f6,f7,f8,f9,f10,s*cc
Table 8.4 outlines the message format.
Parameter
d1 position solution type:
0 = autonomous
1 = position differentially corrected with RTCM code
2 = position differentially corrected with CPD float solution
3 = position is CPD fixed solution
d2 Number of satellites used in position computation
m1 Current UTS time, (hhmmss), of position computation in
hours, minutes, and seconds
m2 Antenna position ECEF x coordinate in meters
m3 Antenna position ECEF y coordinate in meters
m4 Antenna position ECEF z coordinate in meters
f2 Receiver clock offset in meters
f3 X-component of velocity vector in m/s
f4 Y-component of velocity vector in m/s
f5 Z-component of velocity vector in m/s
f6 Receiver clock drift in m/s
f7 PDOP—position dilution of precision
f8 HDOP—horizontal dilution of precision
f9 VDOP—vertical dilution of precision
f10 TDOP—time dilution of precision
s*cc Firmware version ID
The ECEF coordinates reported are in the datum set by the user. ECEF coordinates are reported in
meters (with two decimal places) without leading zeros or positive signs.
230
Table 8.4. $PASHR,CRT Message Format
Description
DG14 and DG16 Board & Sensor Reference Manual
Range
0 to 3
3 to 12
00 to 235959.50
0 to 99.9
0 to 99.9
0 to 99.9
0 to 99.9
4 character string