GPS Sca12

SCA-12 GPS RECEIVER
SCA-12S GPS SENSOR
INTERFACE GUIDE
and
OPERATING MANUAL
Firmware Version 1D00
Document Number 630007, Revision A
Publication date April 1995
© Copyright 1995 by Ashtech, Inc. All rights reserved.
Copyright Notice
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted in any form or by any means, electronic, mechanical photocopying, recording,
or otherwise, without the prior written permission of Ashtech, Inc.
For information on translations and distribution outside the U.S.A., please contact Ashtech, Inc.
NO PATENT LIABILITY IS ASSUMED WITH RESPECT TO THE USE OF
INFORMATION CONTAINED HEREIN. WHILE EVERY PRECAUTION HAS BEEN
TAKEN IN THE PREPARATION OF THIS PUBLICATION, ASHTECH ASSUMES NO
RESPONSIBILITY FOR ERRORS OR OMISSIONS, NOR IS ANY LIABILITY ASSUMED
FOR DAMAGES RESULTING FROM THE USE OF THE INFORMATION CONTAINED
HEREIN. FURTHER, THIS PUBLICATION AND FEATURES DESCRIBED HEREIN ARE
SUBJECT TO CHANGE WITHOUT NOTICE. PRINTED IN THE UNITED STATES OF
AMERICA.
ALL TRADEMARKS USED HEREIN ARE PROPERTY OF THE RESPECTIVE
COMPANIES.
Ashtech, Inc. 1170 Kifer Road Sunnyvale, CA 94086

Hot line 1-800-229-2400 (U.S. only)
Voice (408) 524-1600
FAX (408) 524-1500
BBS (408) 524-1527
FCC USER'S MANUAL STATEMENT
Class B Verification Requirements
This equipment has been tested and found to comply with the limits of Class
B digital device, pursuant to Part 15 of the FCC rules. These limits are
designed to provide a reasonable protection against harmful interference in
a residential installation. This equipment generates, uses, and can radiate
radio frequency energy and, if not installed and used in accordance with the
instructions, may cause harmful interference to radio communications.
However, there is no guarantee that interference will not occur in a particular
installation. If this equipment does cause harmful interference to radio or
television reception, which can be determined by turning the equipment off
and on, the user is encouraged to try to correct the interference by one or
more of the following measures:
C Reorient or relocate the receiving antenna.

C Increase the separation between the equipment and receiver.
C Connect the equipment into an outlet on a circuit different
from that to which the receiver is connected.
C Consult the dealer or an experienced radio/TV technician for
help.
Shielded cables and I/O cords must be used for this equipment to comply
with the relevant FCC regulations.
Changes or modifications not expressly approved in writing by Ashtech may

void the user's authority to operate this equipment.
FOREWORD
This document describes the Ashtech SCA-12/12S hardware, support
requirements, operation procedures, and requirements for establishing a
communications interface with other components of the system.
CONTENTS
GENERAL INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
FUNCTIONAL DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
POWER/INPUT/OUTPUT CONNECTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
SCA-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
SCA-12S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
RF INTERFACE CONNECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
RADIO INTERFERENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
RECEIVER SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
RECEIVER OPTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
GETTING STARTED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
CONNECTION PROCEDURES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
IMPORTANT DEFAULT PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Communication Port Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Data Output Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
INITIAL OPERATING INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Command the SCA-12/12S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
SYSTEM SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
POWER-UP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
MESSAGE FORMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Input Messages to the SCA-12/12S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Output Messages From the SCA-12/12S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
SERIAL PORT CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
PARAMETER SETTINGS AND STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
SATELLITE SEARCH ALGORITHM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
POSITION MODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
POINT POSITIONING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
ALTITUDE HOLD DEFINITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
IONOSPHERIC MODEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
ANTENNA POSITION SETTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
NMEA OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
RAW DATA OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
DIFFERENTIAL OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Sources of Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
RTCM Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
RTCM 104 Format, Version 2.0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
PHOTOGRAMMETRY (EVENT MARKING) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
PULSE GENERATION (1PPS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
i
COMMAND/RESPONSE FORMATS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
RECEIVER COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
RAW DATA COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
NMEA DATA MESSAGE COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
RTCM RESPONSE MESSAGE COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
RECOMMENDED READING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
CUSTOMER SUPPORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

COMMON GPS ACRONYMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
US COAST GUARD GPS INFORMATION CENTER (GPSIC) . . . . . . . . . . . . . . . . . . . 127
REFERENCE DOCUMENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

ASHTECH BULLETIN BOARD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
BIBLIOGRAPHY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Figure 1. Ashtech SCA-12 GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Figure 2. Ashtech SCA-12S GPS Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 3. SCA-12 Power/Input/Output Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Figure 4. SCA-12 Power and Serial Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 5. SC-12S Power/Input/Output Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 6. Closed-Loop Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Figure 7. 1PPS Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Table 1. Receiver Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 2. Raw Data Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Table 3. NMEA Data Message Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Table 4. RTCM Response Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
ii
SCA-12 Receiver/-12S Sensor
GENERAL INFORMATION
The Ashtech SCA-12 and SCA-12S receivers, figures 1 and 2, process
signals from the Global Positioning System (GPS) satellite constellation.
The receivers provide real-time position, velocity, heading, and time
measurements using twelve dedicated separate and parallel channels for
Coarse/Acquisition (C/A) code-phase and carrier-phase measurement on the
L1 (1575 Mhz) band. The receivers receive satellite signals via an L-band
antenna and low-noise amplifier (LNA). The modules are designed for stand-
alone range and phase measurement applications, and also are suitable for
use as a base (reference) station or remote (rover) station providing real-time
differential GPS operation in RTCM 104 Version 2.0 format.
Figure 1. Ashtech SCA-12 GPS Receiver
General Information 1
Figure 2. Ashtech SCA-12S GPS Sensor
FUNCTIONAL DESCRIPTION
This section comprises a functional and hardware description of the SCA-
12/12S, and characterizes the RF and power/input/output connectors.
The SCA-12 receiver is activated when any character is sent through any of
the serial ports while running a communications program. The SCA-12S
sensor is activated when power is applied to the power input through the DB-
25 connector. Upon application of power, the SCA-12/12S runs a built-in
self test of its internal memory, and thereafter periodically self-tests various
functions during normal operation. Test results are stored for commanded
output. After self test, the SCA-12/12S initializes volatile RAM. If non-
volatile RAM fails self test (due, for example, to a low battery backup
condition), the SCA-12/12S clears and reports the loss of stored data, then
initializes its 12 channels and begins searching for all satellites (SVs or
Space Vehicles) within the field of view of the antenna.
The SCA-12/12S can track all Block I and Block II GPS SVs. All 32 PRN
numbers as specified in Navstar GPS Space Segment/Navigation User
Interfaces, ICD-GPS-200, Revision B are coded inside the receiver/processor
card. As the SCA-12/12S acquires (locks on to) each SV, it notes the time
and then collects the ephemeris data about the orbit of that SV and almanac
data about the orbits of all the SVs in the constellation.
When tracking three SVs, the SCA-12/12S can compute and time tag the
two-dimensional position and velocity of its antenna; no initial estimate is
necessary. When it receives an appropriate command message from
controller equipment through one of its serial communications ports, the
SCA-12/12S sends the results of its computations to the commanded port.
With four locked SVs, the SCA-12/12S can determine three-dimensional

position and velocity. Position accuracy is 16 meters rms or less SEP (when
Position Dilution of Precision - PDOP is less than 4), subject to the US
governmental policy of Selective Availability; velocity accuracy is one
centimeter per second.
One independent measurement is determined per half-second, with no

interpolation or extrapolation from previous solutions. The position and
velocity computations are performed using all the SVs in view
simultaneously. The SCA-12/12S uses a sophisticated technique for

computing velocity which does not require computations to be dependent
upon the last position, and uses instantaneous doppler values from four SVs
to compute dynamic speed. All computations are accomplished relative to
the World Geodetic System WGS-84 reference ellipsoid.
The SCA-12/12S features 12-channel/12-SV All-In-View operation; each of

up to 12 visible SVs can be assigned to a channel and then continuously
tracked. Each SV broadcasts almanac and ephemeris information every 30
seconds, and the SCA-12/12S automatically records this information in its
non-volatile memory.
The SCA-12/12S has an L1-band radio frequency (RF) port and three RS-
232 serial input/output (I/O) ports. All three serial ports are capable of two-
way communication with external equipment.
With external power removed from the non-volatile part of the RAM, data
storage is maintained using an internal lithium battery.
The RF circuitry receives satellite data from a GPS antenna and LNA via a
coaxial cable, and can supply power to the antenna/LNA by means of that
cable. No separate antenna power cable is required. Power consumption is
approximately 4 watts even when powering an LNA.
The SCA-12/12S includes a two-color LED; red indicates the power status,
and green flashes for the number of SVs locked.
POWER/INPUT/OUTPUT CONNECTIONS
Although the power, input, and output parameters are identical for the SCA-
12 and SCA-12S, the physical connections are different. In the SCA-12,
there are separate connectors for power and serial I/O data, as shown in
Figures 3 and 4. In the SCA-12S, all power and serial I/O connections are
embedded in a single DB25 connector, as shown in Figure 5.
SCA-12
Figure 4 shows the pin configurations for the power and serial data
connectors.
Figure 3. SCA-12 Power/Input/Output Connectors
SCA-12 signal designations are detailed in the following table.
Connector Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7
Power Ground 6-15 Control*

VDC in
Serial A No connection Ground CTS RTS RXD TXD Reserved. Do not

use.
Serial B No connection Ground CTS RTS RXD TXD Photogrammetry in
Serial C No connection Ground CTS RTS RXD TXD 1 PPS out
*On the power connector, the factory default configuration is ground on pin 1, 6-15 VDC on pin 2, open pin 3.
In this configuration, sending any character through one of the serial ports turns the receiver on and sending the
command $PASHS,PWR,OFF through serial port A turns the receiver off. If pin 3 is connected to pin 2, the
receiver automatically turns on when power is applied.
Figure 4. SCA-12 Power and Serial Connector

Pinouts
SCA-12S
The SCA-12S power input/output connector, Figure 5, is a DB25 female
socket. It provides the input power connection, the one-pulse-per-second
TTL output, the event marker (EVENT IN) input connector, three RS-232
I/O ports, and power for an external LED if required.
Figure 5. SCA-12S Power/Input/Output Connector

SCA-12S Power/Input/Output Connector Pin Assignments
Pin Code Description

01 Red LED Out+ Red LED + power out
02 Green LED Out+ Green LED + power out
03 GNDC Serial port C ground
04 RTSC RS-232 port C request to send
05 TXDC RS-232 port C transmit data
06 TXDB RS-232 port B transmit data
07 GNDB RS-232 port B ground
08 RTSB RS-232 port B request to send
09 TXDA RS-232 port A transmit data
10 GNDA RS-232 port A ground
11 RTSA RS-232 port A request to send

12 EXT GND External ground
13 EXT GND External ground
14 LED GND LED ground
15 1 PPS OUT One pulse-per-second output
16 CTSC RS-232 port C clear to send
17 RXDC RS-232 port C receive data
18 RXDB RS-232 port B receive data
19 EVENT IN Event marker input
20 CTSB RS-232 port B clear to send
21 RXDA RS-232 port A receive data
22 -- No connection
23 CTSA RS-232 port A clear to send
24 EXT POWER External power (nominal 6 to 15V)
25 EXT POWER External power (nominal 6 to 15V)
RF INTERFACE CONNECTOR
The RF connector is a standard TNC female receptacle wired for connection
via 50-ohm coaxial cabling to a GPS antenna with integral LNA. The TNC
connector shell is connected to the SCA-12/12S common ground. The TNC
center pin provides +4.8 VDC (to power the LNA) and accepts 1575 MHz
RF input from the antenna; the RF and DC signals share the same path.
CAUTION
The SCA-12/12S may be damaged if the TNC center pin
is not isolated from DC ground. Provide a DC block
between the center pin and ground with the following
characteristics: VSWR 1.15 maximum at 1575 MHz,
insertion loss 0.2 dB maximum, and main line maximum
voltage 5 VDC.
RADIO INTERFERENCE
Some radio transmitters and receivers, such as FM radios, can interfere with
the operation of GPS receivers. Ashtech recommends that you verify that
nearby handheld or mobile communications devices do not interfere with
GPS receivers before setting up your project.
RECEIVER SPECIFICATIONS
Receiver/Antenna
Tracking: 12 channels L1 Super C/A code (carrier optional)
Size: 3.65"W x 6.21"D x 1.9"H
Weight: 22 ounces
Operating temperature: -20 to +60 °C
Storage temperature range: -40 to +70 °C
Environment: Wind-driven rain and dust to MIL-STD-810D
Case: Aluminum
Power consumption: 4 watts
Power input: 5-16 VDC via DB25 or separate power connector
Data storage: Optional 0.5 or 4MB memory board
Interface: 1 dual-color LED
3 RS-232 ports via DB25 or separate connectors
1 antenna port
Remote LED via DB25 for SCA-12S
Event marker via serial port connector or DB25
1 PPS via serial port connector or DB25
Battery: Snaps onto rear panel of SCA-12
Mounting: Attached plate with 4 holes
RECEIVER OPTIONS
The SCA-12/12S has a number of available options. The options that are set
in the receiver will determine which commands and features you can use.
For example, if the Event Marker option is not set, you will not be able to
create a photogrammetry file of time tags in the receiver, or use the
$PASHS,TTT command to output event time tags from the serial port.
To determine which options are in your receiver, use the $PASHQ,RID

(receiver identification) command. The response from the receiver should
be in the form:
$PASHR,RID,rr,vvvv,xxxxxxxxxxxxx*cc where
Ite Significance
m
1 rr = receiver type
2 vvvv = receiver version
3 xxxxxxxxxxxxx = options available
4 *cc = the checksum in hexadecimal
There are 13 available options. Each option is represented by a letter or

number presented in a certain order. The availability of that option is
indicated by a letter or number. If the letter or number is displayed, then the
option is available. If the letter/number is not displayed, the option is not
available.
The options in the slot order are:

Carrier Phase [P]
Differential - Base Station [B]

Event Marker (Photogrammetry) [E]
Pulse Per Second (1PPS) [L]
Session Programming/Sleep Mode [S]
Magnetic Variation [M]
Geoidal Height [G]
2 Hz Update Rate (Half-second Update) [2]
Point Positioning [T]
Raw Data Output [O]
NMEA Data Output [N]
Differential - Remote Station [U]
Data Recording [R]
Example:
Query: $PASHQ,RID<Enter>
Response: $PASHR,RID,SC,1D00,PB_LSM_2_ONUR*4D
where
Field Significance
$PASHR,RID Message header
SC Receiver type: SCA
1D00 Receiver firmware version
PB_LSM_2_ONUR Options available:
[P] Carrier phase
[B] Differential Base Station
[L] Pulse Per Second
[S] Session Programming
[M] Magnetic Variation
[2] 2Hz Update Rate
[O] Real-Time Outputs
[N] NMEA Data Outputs
[U] Differential Remote Station
[R] Data Recording
*4D Checksum in hexadecimal
Details are given in the Commands/Response Formats chapter.
GETTING STARTED
This chapter is intended to help you learn to use the Ashtech SCA-12/12S. For
details, please refer to the chapters on General Information, Operation, and
Command/Response Formats.
Briefly discussed in Getting Started are:
C Power requirements for the SCA-12/12S.
C Procedure for connecting the SCA-12/12S to power, the antenna, and

your control and data logging equipment.
C Important default parameters.

C Instructions for establishing communications with the SCA-12/12S
using typical communications software with an IBM-compatible PC.
C Procedure for sending common commands to the SCA-12/12S.
CONNECTION PROCEDURES
Power
CAUTION
As a precaution to avoid possible damage to the SCA-12S, connect
the interface cable to the DB25 connector before turning on the
power supply, and turn off the power supply before disconnecting
the interface cable from the DB25 connector.
1. Connect the interface cable(s) to the DB25 connector of the SCA-

12S unit, and the power cable to the power connector of the SCA-
12 unit, or the serial I/O connectors on the SCA-12/12S before
applying power.
Getting Started 13
2. Connect the power cable to the power supply.
3. Applying power to the SCA-12/12S starts the unit. Once power is

applied, the two-color LED on the SCA-12/12S card flashes red
approximately every three seconds.
4. When you disconnect power, disconnect the interface cable from

the power supply before disconnecting the interface cable from the
connector on the SCA-12S.
Antenna
The SCA-12/12S is designed to work with an antenna/preamplifier that
requires five volts and is isolated from DC ground. The gain of the
antenna/preamplifier minus the loss of the cable should be between 20
and 30 dB.
Connect the antenna cable directly to the antenna TNC connector on the
SCA-12/12S.
Once power is on and the antenna connected, the SCA-12/12S starts

acquiring satellites (SVs or Space Vehicles) within the field of view of
the antenna. As a channel in the SCA-12/12S locks on to an SV, the
two-color led on the SCA-12/12S receiver/processor card flashes green
between the red power flashes for every channel in use (i.e. SVs
locked).
IMPORTANT DEFAULT PARAMETERS

Communication Port Setup
The default communication parameters of the SCA-12/12S are:
Baud Data Bits Parity Stop

Bits
Getting Started 14
9600 8 None One
When you first establish communications with the SCA-12/12S, your

communications interface must use this protocol.
Data Output Options

All the default data output commands are set to OFF. The SCA-12/12S
will not output any data until you send a message commanding it to do
so.
INITIAL OPERATING INSTRUCTIONS

After you have the SCA-12/12S powered and running, you must send it
command messages in order to receive data (such as antenna position). The
following procedure describes how to send directives to and receive
information from the SCA-12/12S using an IBM-compatible PC. Many
communications software packages are available.
Command the SCA-12/12S

After setting up the interface for establishing communications with the
SCA-12/12S, you are now ready to send commands. The letters in your
command must be typed in ALL UPPER CASE and completed with
<Enter> or <CR><LF>. If you have typed in and sent the command
correctly, you should get a response. To become familiar with the SCA-
12/12S messages, send a few common commands to the SCA-12/12S
and observe the responses. In the following steps command messages
appear as COMMAND, and response messages appear as RESPONSE.
1. Type in capital letters: $PASHQ,PRT and press <Enter>. This

command queries the communication setup of the port.
2. If interfacing through serial port A, the response message is
Getting Started 15
$PASHR,PRT,A,5. SCA-12/12S port A is using its default

communications setup 5: 9600 baud, eight data bits, no parity, and
one stop bit.
3. Type in capital letters: $PASHQ,STA and press <Enter>. This

command queries which satellites are locked and their signal
strength at the time the command is sent.
4. The response message typically might display:

TIME: 18:38:31 UTC
LOCKED:03 23 16
COUNT :54 26 17
5. If interfacing through port A, type in capital letters:

$PASHS,NME,POS,A,ON and press <Enter>. This command tells
the SCA-12/12S to return information through port A on the
position of the antenna at a set rate. The default rate for NMEA
commands is once per half-second if the 2HZ option is installed in
the receiver; if not, it is once per second.
6. The response message displays once per half-second or once per

second:
$PASHR,POS,0,"......."
where the "......." is your position information, if you have enough

SVs locked to compute a position.
7. If interfacing through port A, type in capital letters:

$PASHS,NME,SAT,A,ON and press <Enter>. This command tells
the SCA-12/12S to return locked satellite information through port
A at a set rate.
8. The response message displays once per half-second or once per

second:
$PASHR,SAT,"......."
where the "......." is the number of SVs locked, and the elevation,
Getting Started 16
azimuth, and signal strength for each locked SV.
9. For details on these commands and responses, as well as the rest of

the SCA-12/12S's command and response repertoire, consult the
following chapters in this guide.
Getting Started 17
Operation
COMMAND/RESPONSE FORMATS
This chapter defines in detail the requirements for establishing a communications
interface between the SCA-12/12S and external data equipment. Some
commands are applicable only when the appropriate option installed.
The SCA-12/12S includes command/response messages enabling it to

receive and to send data messages when so commanded through any of the
three serial ports. The SCA-12/12S responds with messages indicating the
acceptance or rejection of commands and providing data on its internal
status, antenna position, and status for all SVs currently being tracked. The
input messages to the SCA-12/12S consist of set command messages, query
command messages, general command messages, and differential correction
message capability. Output messages from the SCA-12/12S are composed
of command acknowledged/not acknowledged messages, general status
messages, RTCM, and NMEA-format data messages.
The SCA-12/12S serial port commands fall into four groups:

C Receiver commands
C Raw data commands
C NMEA message commands
C RTCM differential commands
The following sections discuss each type of command.
18
OPERATION
This chapter discusses system setup, power-up, command format, serial port
configuration, parameter settings and status, the satellite search algorithm,
position modes, point positioning, altitude hold definition, the
ionospheric/tropospheric model, antenna position setting, NMEA outputs, raw
data outputs, differential operation, photogrammetry option, and pulse-per-
second option.
SYSTEM SETUP
If other than Ashtech-supplied equipment is used, it must meet the hardware
specifications described in General Information.
Applying power to the power input pins on the SCA-12S DB25 connector
starts SCA-12S operation; applying power to the power connector on the
SCA-12 and sending any character through one of the serial ports starts
SCA-12 operation. Before applying power connect any controller devices
or data logging equipment to the input/output ports of the SCA-12/12S.
CAUTION
As a precaution, to avoid possible damage to the SCA-12S, connect
the interface cable(s) to the SCA-12S connector(s) before turning
on the power supply.
Removing power from the power input pins on the SCA-12/12S connector
stops SCA-12S operation. Issuing the command $PASHS,PWR,OFF
through serial port A of the SCA-12 stops the SCA-12 operation.
CAUTION
As a precaution, to avoid possible damage to the SCA-12S, turn
off the power supply before disconnecting the interface cable from
the SCA-12S connector.
19
POWER-UP
Upon successful power-up of the "black box" configuration, the status LED
lights red and then flashes briefly every three seconds (approximately). When
the SCA-12/12S's automatic search results in an SV acquisition, the status
LED flashes green between the red power status flashes. Every SV lock-on
produces a green flash; for example, if the SCA-12/12S is tracking eight
SVs, the LED flashes green eight times between red flashes.
MESSAGE FORMAT
The built-in command/response firmware allocates the three RS-232 ports
to receiving command messages from and sending response messages to a
single external control device (such as a PC), and to output data to a separate
data logging device, as well as to transmit differential corrections to a remote
station or to receive differential corrections from a reference (base) station.
Input Messages to the SCA-12/12S

These comprise set command messages, query command messages, and
general command messages complying with the NMEA 0183 standard to the
following extent:
C NMEA 0183 ASCII byte strings following $-character.
C Headers are Ashtech proprietary.
C Message IDs are Ashtech proprietary.
C Data items are separated by commas.

C Checksum character delimiter and NMEA checksum bytes are
recognized by the SCA-12/12S but are optional. The hexadecimal
checksum is computed by exclusive-ORing all of the bytes in the
message between, but not including, the $ and the *.
20
C Message is ended with the standard NMEA message terminator

characters, <CR> (ASCII carriage return 0DH) and <LF> (ASCII
line feed 0AH).
All command messages (set, query or general) must be ALL UPPER CASE
and completed by <Enter>. A valid set command causes the SCA-12/12S to
return the $PASHR,ACK*3D, "acknowledged" response message. A set
command containing a valid $PASHS set command header followed by
character combinations unrecognized by the SCA-12/12S causes return of the
$PASHR,NAK*30, "not-acknowledged" response message. All other invalid
set commands are ignored. Valid query and general command messages are
acknowledged by return of the requested information, and all invalid query
and general commands are ignored.
Output Messages From the SCA-12/12S

These are messages the SCA-12/12S sends to the data logging device in
response to a command message. They comprise the SCA-12/12S general
status messages, command acknowledged/not acknowledged messages and
GPS data messages. The SCA-12/12S general status messages have free-
form Ashtech proprietary formats. The command acknowledged/not
acknowledged messages and GPS data messages comply with NMEA 0183
as follows:
C NMEA ASCII byte strings following $-character.
C Headers are standard NMEA or Ashtech proprietary NMEA.
C Message IDs are standard NMEA or Ashtech proprietary NMEA.
C Standard NMEA format messages contain hexadecimal checksum.
C Data items are separated by commas; successive commas indicate
invalid or missing data.
C Message is ended with <Enter>, the standard NMEA message
terminator characters.
SERIAL PORT CONFIGURATION

The SCA-12/12S provides three RS-232 serial ports with two-way full-
duplex communication. The default transmit/receive protocol is 9600 baud,
eight data bits, no parity, and one stop bit (8N1). The baud rate of the SCA-
12/12S ports is adjustable using the $PASHS,SPD speed set command; the
21
data bit, stop bit and parity protocol is always 8N1.
On initial power-up or after use of the $PASHS,RST (reset) command, the

SCA-12/12S default is 9600 baud for all three RS-232 serial ports A, B, and
C.
The baud rates between the SCA-12/12S and the interfacing equipment must
be the same for the port and the device connected to the port.
To resume communication with the SCA-12/12S after changing the baud rate
using the $PASHS,SPD set command, change the baud rate of the command
device.
PARAMETER SETTINGS AND STATUS

On initial power-up or after use of the $PASHS,RST reset command, the
SCA-12/12S reverts to its default parameter settings. To get the current status
of these settings, there are four query commands available: $PASHQ,PAR
(general parameters), $PASHQ,RAW (raw data parameters), $PASHQ,RTC
(differential parameters), and $PASHQ,SES (session parameters).
$PASHQ,PAR Query Command

The response message for the default values of the query command
$PASHQ,PAR (general parameters) is:
SVS:YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY
PMD:1 FIX:0 PDP:40 HDP:04 VDP:04
PEM:05 PPO:N UNH:N ION:N SAV:N
DIF_RTCM MOD:OFF PRT:A
DIF_ASH MOD:OFF PRT:A
LAT:00:00.00000N LON:000:00.00000E ALT:+00000.00
NMEA: POS GLL GXP GGA VTG GSN MSG GSS SAT GRS RRE TTT GSV GSA
PRTA: OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
PRTB: OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
PRTC: OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
PER: 000.5
Where:
22
SVS:Y Satellites which the SCA-12/12S will attempt to acquire,

default is all Y
PMD:1 Position mode for the minimum number of satellites required
to compute a position fix. With default value (1), a minimum
of 3 SVs is needed to compute a position. With 3 SVs, the
altitude is held fixed (2-D); with 4 or more SVs, the altitude
is not held fixed (3-D).
FIX:0 Altitude hold fix mode to be used when computing a 2-D
position (see PMD). With the default value (0), the most
recent altitude computation is used.
PDP:40 Position Dilution Of Precision mask. Default is 40.
HDP:04 Horizontal Dilution Of Precision mask. Default is 04.
VDP:04 Vertical Dilution Of Precision mask. Default is 04.
PEM:05 Position elevation mask. Elevation below which the satellite
will not be used to compute a position. Default is 05 degrees.
PPO:N Point positioning. An averaging technique to increase the
accuracy of a stand-alone position. The default is N.
UNH:N Use unhealthy satellites for position computation. The default
is N.
ION:N Include the ionospheric and the tropospheric model in the
position fix computation. Default is N.
SAV:N Save parameters in the battery-backed-up memory. With
default value (N), at the next power cycle, the default
parameters are used.
DIF_RTCM RTCM differential
MOD:OFF Differential mode, OFF, BASE or REMOTE
PRT:A Port sending or receiving differential
corrections
DIF_ASH Ashtech differential (not implemented in this release)
LAT:0 Latitude of the antenna position in degrees and decimal
23
minutes. Default is 0.
LON:0 Longitude of the antenna position in degrees and decimal
minutes. Default is 0.
ALT:0 Height of antenna in meters. Default is 0.
For NMEA messages POS, GLL, GXP, GGA, VTG, GSN, MSG, GSS, SAT,
GRS, RRE, TTT, GSV, and GSA, the default is OFF (disabled) for all ports.
(PRTA, PRTB, PRTC).
PER:000.5 Send interval of the NMEA response messages, with the
exception of TTT, in half-seconds if the 2 HZ option is
installed; if not installed, once per second. Default is once per
half-second if 2 HZ option is installed; if not, once per second.
$PASHQ,RAW Query Command

This query is available only if Raw Data Outputs option (O) is installed in
the receiver. The response message for the default values of the query
command $PASHQ,RAW (raw data parameters) is:
RCI:020.0 MSV:3 ELM:05 REC:Y
ANH:0.0000 SIT:???? EPG:000 RNG:0
RAW: MBN PBN SNV SAL MCA
PRTA: OFF OFF OFF OFF OFF
PRTB: OFF OFF OFF OFF OFF
PRTC: OFF OFF OFF OFF OFF
Where:
RCI:020.0 This is the send or record interval of the data in seconds.
Default is once every 20 seconds.
MSV:3 Minimum number of SVs for the data to be sent or recorded.
Default is 3.
ELM:05 Data elevation mask. The elevation below which data from
that satellite will not be recorded.
REC:Y Data recording to internal memory.
24
ANH:0.0000 Antenna height.

SIT:???? Four-character site name.
EPG:000 Epochs to go. The counter used during kinematic surveys to
specify the number of epochs to collect data at a site.
RNG:0 Data mode. Determines the data type to be stored:
0 = carrier phase, 2 = positions only
RAW: Shows ON/OFF status for each raw data type and each port. For all
raw data outputs (MBN,PBN,SNV,SAL,MCA) default is OFF.
$PASHQ,RTC Query Command

This query is available only if one of the differential options (B or U) is
installed in the receiver. The response message for the default values of the
query command $PASHQ,RTC (differential parameters) is:
STATUS:
SYNC: TYPE:00 STID:0000 STHE:0
AGE:+000 QA:100.0% OFFSET:00
SETUP:
MODE:OFF AUT:N
SPD:0300 STI:0000 STH:0
MAX:0120 QAF:100 SEQ:N
TYP:1 2 3 6 9 16
FRQ:99 00 00 OFF 00 00
MSG:
Where:
STATUS Displays the status of the differential data when differential
mode is enabled.
SYNC: Indicates with an * that synchronization
between base and remote has been established.
Valid only for REMOTE mode.
TYPE: Indicates type of message being sent (base) or
received (remote).
STID: Displays the station ID received from the base
25
station.
STHE: Displays the station health received from the
base station.
AGE: In BASE mode, displays the elapsed time in

seconds between the beginning of the
transmission of Type 1 or 9 messages. In
REMOTE mode, displays the age of the
received messages in seconds.
QA: Displays the communication quality factor
between base and remote. Defined as
number of good measurements
--------------------------------------- x 100
total number of messages
Valid for REMOTE mode only.
OFFSET: Displays the number of bits from the beginning

of the RTCM byte (in case of a bit slippage).
SETUP: Displays the default value setting for the differential

parameters.
MODE:OFF Set Differential Mode to base, remote, or

disabled. Default is OFF.
AUT:N Enable Auto Differential Mode. Default is N.

Used only in REMOTE mode.
SPD:0300 Sets the number of bits per second sent from

the differential serial port. Default is 300.
Used only in BASE mode.
STI:0000 Sets the station ID supplied by the user.

Default is 0000.
STH:0 Sets the reference station health. Default is 0.

Used only in BASE mode.
26
MAX:0060 Specifies the maximum age, in seconds,

required for a message to be used. Default is
60. Used only in REMOTE mode.
QAF:100 Sets the criteria to be applied when evaluating

the quality of communication between base and
remote. Default is 100. Used only in
REMOTE mode.
SEQ:N Check for sequential received message number

for the message to be accepted. Default is N.
Used only in REMOTE mode.
TYP: Indicates the type of messages the receiver can

generate. Messages available are 1, 2, 3, 6, 9,
and 16. Used only in BASE mode.
FRQ: Enables message type 6, and indicates the

output period for message types 1, 2, 3, 9, and
16. A 0 indicates message disabled, a 99
indicates continuous output, and any other
number specifies the number of seconds
between transmissions for message types 1 and
9, and the number of minutes between
transmissions for all other messages. Default
for message type 1 is 99, for message type 6 is
OFF, and for all other messages is 00.
MSG: For BASE mode, it contains the message, up to 90 characters,
that is sent from the base to the remote when message type 16
is enabled. In REMOTE mode, it displays the message, up to
90 characters, that is received from the base.
If any of these parameters are changed by the corresponding set commands,
send the corresponding query command to get the current status. If changed,
parameter values are saved by the $PASHS,SAV,Y set command. After the
next power-up, the response message to the corresponding query command
will display the saved quantities instead of the defaults. $PASHS,RST
always reinstates the defaults.
27
$PASHQ,SES Query Command

This query is available only if Session option (S) is installed in the receiver.
The query command $PASHQ,SES<Enter> can be used to display session
parameters. This query is available only if the session option is installed in
the receiver.
The receiver response is:

START END INT MASK MIN TYPE
A N 00:00:00 00:00:00 020.0 10 3 0
B N 00:00:00 00:00:00 020.0 10 3 0
C N 00:00:00 00:00:00 020.0 10 3 0
D N 00:00:00 00:00:00 020.0 10 3 0
E N 00:00:00 00:00:00 020.0 10 3 0
F N 00:00:00 00:00:00 020.0 10 3 0
G N 00:00:00 00:00:00 020.0 10 3 0
H N 00:00:00 00:00:00 020.0 10 3 0
I N 00:00:00 00:00:00 020.0 10 3 0
J N 00:00:00 00:00:00 020.0 10 3 0
INUSE:N REF:000 OFFSET:00:00 TODAY:327
SATELLITE SEARCH ALGORITHM

When the SCA-12/12S is operated for the first time after receipt from
Ashtech, the non-volatile memory must be cleared of factory acceptance test
position, almanac, and ephemeris data. This is done with the $PASHS,RST
reset command. Initially, therefore, no almanac or ephemeris data is
available. The SCA-12/12S always assigns the first 12 elements of a 32-
element table of SV PRN numbers to its 12 channels. These first 12 SVs are
chosen to be members of the current actual SV constellation. This reduces
the SV acquisition time. Within six seconds after an SV is locked, the SCA-
12/12S time is set. If no ephemeris data is available in the memory, or if the
data is older than ten hours, 30 to 60 seconds may be needed to collect data.
After three or four SVs are locked and the almanac/ephemeris data is
collected, the SCA-12/12S attempts to compute its first position fix using an
estimated position based on SV locations. The SCA-12/12S continuously
collects in its non-volatile memory the almanac and ephemeris data as well
28
as the most recent position for calculations in the current session. The time
to the first position fix, if no almanac/ephemeris data is available, is typically
two minutes.
At the next power up, if the almanac/ephemeris data from non-volatile

memory is available, the SCA-12/12S uses the almanac data to search only
the visible SVs. The almanac data also allows the prediction of the doppler
shift and the SCA-12/12S clock offset to reduce the lock time considerably.
POSITION MODES
The SCA-12/12S performs a position fix computation in four modes. The
$PASHS,PMD command us used to select the mode.
In mode 0 at least four SVs with elevation equal to or above the position
elevation mask are needed to compute a position. All three polar coordinates
are computed in this mode.
In mode 1 at least three SVs with elevation equal to or above the position
elevation mask are needed to compute a position. Only the latitude and the
longitude are computed if three SVs are locked and the altitude is held. If
more than three SVs are locked, this mode is similar to mode 0.
elevation mask are needed to compute a position. Only the latitude and the
longitude are computed, and the altitude is always held.
elevation mask are needed to compute a position. Only the latitude and
longitude are computed, and the altitude is held if only three SVs are locked.
If more than three SVs are used and the HDOP is less than the specified
HDOP mask, all three polar components are computed. If HDOP is higher
than the specified HDOP mask, the SCA-12/12S automatically goes into the
altitude hold mode.
POINT POSITIONING
29
The Point Positioning option improves the accuracy of a stand-alone absolute

position from about 50 meters to less than 5 meters. Point positioning uses
an averaging technique to reduce or eliminate the effects of Selective
Availability (SA) and other fluctuating errors. This technique can be used
only when the receiver is static, and takes a couple of hours for the accuracy
to be achieved. The point positioning mode can be set using the
$PASHS,PPO command. See the Command/Response chapter for details.
ALTITUDE HOLD DEFINITION

Two modes define what altitude is selected when the SCA-12/12S is in
altitude hold mode. The $PASHS,FIX set command can be used to select
between these modes.
In mode 0 the most recent altitude is used. This is either the one entered by
using the $PASHS,ALT set command or the one computed when four or
more SVs are used in the solution, whichever is most recent. If the last
altitude is the one computed with four or more SVs, it is used only if VDOP
is less than the VDOP mask.
In mode 1 only the last altitude entered is used in the position fix solution.
On initial power-up or after use of the $PASHS,RST set command, the most
recent antenna altitude is zero.
IONOSPHERIC MODEL
The SCA-12/12S can be set to use an ionospheric model in its position fix
computation. The ionospheric model is based on the model defined in
ICD-GPS-200, Revision B.
ANTENNA POSITION SETTING
30
When in Differential Base Mode, the SCA-12/12S determines range

correction by subtracting the measured range from the true range, computed
by using an accurate antenna position entered previously in the receiver.
Four commands are available to enter this known position:
$PASHS,POS (position setting including latitude, longitude, altitude)

$PASHS,LAT (latitude setting)
$PASHS,LON (longitude setting)
$PASHS,ALT (antenna height setting)
NMEA OUTPUTS
As an option, the SCA-12/12S allows you to output NMEA message format
through serial ports A, B, and C. Ten different types of messages are
available: GLL, GXP, GGA, VTG, GSN, MSG, GSS, GRS, GSV, and GSA.
All the NMEA messages are a string of ASCII characters defined by commas
and that comply with NMEA 0183 Standards Version 2.0. Transmission
protocol is 8 data bits, 1 stop bit, and no parity bit. Any combination of these
messages can be output through any of the serial ports, and the same
messages can be output through different ports at the same time. The output
rate is determined by the $PASHS,NME,PER command, and can be set to
any value between 0.5 and 999.5 seconds if the 2HZ option is installed, or
between 1 and 999 seconds if the 2HZ option is not installed. Additional
details are presented in the discussion of NMEA message commands.
RAW DATA OUTPUTS

As an option, the SCA-12/12S has a feature that allows you to send real-time
data out through serial ports A, B, and C. Five different types of messages
are available:
MBN messages which contain measurement data output with Ashtech type
2 data structure
PBN messages which contain position data
SNV messages which contain ephemeris data
SAL messages which contain proprietary almanac data
MCA messages which contain measurement data (same as MBN) output
with Ashtech type 3 data structure
31
All outputs are in binary format and the transmission protocol is 8 data bits,
1 stop bit, and no parity bit. Any combination of messages can be output
through any of the serial ports, and the same messages can be output through
different ports at the same time. The output rate is determined by the
$PASHS,RCI setting. Information on the data structures for all the above
messages can be found in the RAW DATA MESSAGES section.
DIFFERENTIAL OPERATION
This section discusses differential operation in general, sources of error, the
SCA-12/12S messages for differential, and RTCM 104 format as it applies
to a reference station and to a remote station. Differential remote and base
operation are available as receiver options.
General
Real-time differential positioning involves a reference (base) station
computing the SV range corrections and transmitting them to the remote
(rover) stations. The reference station transmits these corrections in real time
to the remote receivers via a telemetry link. Remote receivers apply the
corrections to their measured ranges, using the corrected ranges to compute
their position.
The base receiver determines range correction by subtracting the measured

range from the true range, computed by using the accurate position entered
in the receiver. This accurate position must have been previously surveyed
using GPS or some other technique. The remote receivers subtract the
received corrections from their measured ranges and use the corrected ranges
for position computation.
As stand-alone, the SCA-12/12S can compute a position of around 25 meters

with Selective Availability off and around 100 meters with SA on.
Differential GPS can achieve sub-meter precision at the remote receivers
even with SA on.
A communication link must exist between the base and remote receivers.
The communication link can be a radio link, telephone line, cellular phone,
32
communications satellite link, or any other medium that can transfer digital
data.
Sources of Error
The major sources of error affecting the accuracy of GPS range measurements
are SV orbit estimation, SV clock estimation, ionosphere, troposphere, and
receiver noise in measuring range. The first four sources of error are almost
totally removed using differential GPS. Their residual error is in the order of one
millimeter for every kilometer of separation between base and remote receivers.
Receiver noise is not correlated between the base and the remote receiver and is
not canceled by differential GPS. However, in the SCA-12/12S, integrated
doppler is used to smooth the range measurements and reduce the receiver noise.
At the instant a SV is locked, there is also RMS noise affecting the range
measurement. This rms noise is reduced with the square root of n where n is the
number of measurements. For example, after 100 seconds of locking to an SV,
the rms noise in range measurement is reduced by a factor of 10 (one meter of
noise is reduced to 0.1 meter). The noise is further reduced over time.
If the lock to a SV is lost, the noise goes back to one meter and smoothing starts
from the one-meter level. The loss of lock to an SV is rare. It typically happens
only when the direct path to the SV is blocked by an object.
Total position error (or error-in-position), is a function of the range errors (or
errors-in-range) multiplied by the PDOP (three-coordinate position dilution of
precision). The PDOP is a function of the geometry of the SVs.
RTCM Messages
The SCA-12/12S can accept RTCM 104 version 2.0 differential formats. The
SCA-12/12S is set to differential mode in any of the three ports with the set
command $PASHS,RTC,str,c where str is BAS or REM and c is the port. Of
RTCM message types 1 through 64, the SCA-12/12S processes only: types 3 and
16 for station location and special information; types 1, 2 and 9 for RTCM
differential corrections; and null frame type 6. The differential corrections are
33
automatically processed by the SCA-12/12S. RTCM message types 3 and 16

provide user information from the reference (base) station via the
$PASHS,NME,MSG set command and the $PASHQ,MSG inquiry command.
RTCM message types 1 and 9 provide differential correction information via the
$PASHS,NME,MSG set command and $PASHQ,MSG query command. The
reference station sends types 1, 2 and 9 continuously and may send either type
3 or type 16 individually.
On initial power-up or after use of the $PASHS,RST reset set command, the
SCA-12/12S default automatic differential mode is OFF, and the default is 120
seconds for the maximum age of an RTCM differential correction above which
it will not be used. If the automatic mode is not enabled by the
$PASHS,DIF,AUT set command and the differential correction data is older than
the maximum age specified by the $PASHS,RTC,MAX set command, the SCA-
12/12S will not return antenna position data.
In automatic mode, if no differential correction data is received or the age of data

is older than the specified maximum age, the SCA-12/12S will return the
uncorrected raw position.
34
RTCM 104 Format, Version 2.0

When the SCA-12/12S is used as a reference station and the RTCM option is
enabled, it computes differential corrections for up to 12 SVs, converts those
corrections to RTCM format and transmits the converted messages via its serial
ports. It can generate message types 1, 2, 3, 6, 9, and 16, as detailed in the
following table.
Message Type Contents of message

1 Differential GPS corrections
2 Delta differential corrections
3 Reference station parameters
6 Null frame
9 High-rate differential GPS corrections
16 Special Message
The SCA-12/12S uses the six-of-eight format (data bits a1 through a6 of an

eight-bit byte) for communication between the reference station and user
equipment.
When the SCA-12/12S is used as remote equipment and the RTCM option
is enabled, the SCA-12/12S can accept any type of RTCM message.
However it decodes types 1, 2, 3, 6, 9, and 16 and uses only types 1, 2, and
9 for differential corrections. For radio communication, the SCA-12/12S in
remote mode can recover bit slippage.
35
PHOTOGRAMMETRY (EVENT MARKING)

When the event [E] option is installed, the SCA-12/12S can measure and
record event times with high accuracy. In order to store an event time in the
receiver's memory, a trigger signal must be applied to the appropriate
connector located on the back panel of the SCA-12/12S; in the SCA-12, this
connector is serial port B; in the SCA-12S this connection is pin 19 of the
DB25 connector. The photogrammetry feature allows the event time to be
stored in memory and downloaded using the HOSE program, or output by
using the $PASHS,NME,TTT command.
At the rising or falling edge (selectable) of the trigger signal, the time is
recorded in the receiver's nonvolatile external memory. The recorded time
can be read by the downloading (HOSE) program at a later time. The trigger
signal can be set to the falling edge using the $PASHS,PHE command.
The measured time is accurate down to 1 microsecond. This is a GPS time

(UTC + 10 seconds) and is recorded as the number of seconds since the start
of the GPS week (00:00 a.m. Sunday). The HOSE program reads the time
and converts it to day number, hours, minutes, seconds, and fractional
seconds up to 6 digits. With each event time, the receiver also records the
site name. One example of the record is:
TEXA 4 21:30:19:430964
The photogrammetry time measures the event time relative to the receiver's
GPS time. It measures only the first event during the period between 2 GPS
epochs. See figure below. This allows use of mechanical switches without
concern for contact bounces.
+)))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))),
* *
* Epoch i Epoch i + 1 Epoch i+2*
* T T T *
* Signal S)))))))))3))))))))))))))))))))))3))))))))))))))))))1 *
* * 8 8 * 8 * *
* R T T R T R *
36
* RRecorded RIgnored RRecorded *

.))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))-
The receiver stores only one event time per data collection period. If more
than one event time is measured within a data collection period, the receiver
records only the first one.
Therefore, setting the interval parameter to 1 second ($PASHS,RCI,1) yields

the highest event time record rate.
Because the 1 PPS signal is being used to record the photogrammetry events,
the period of the 1 PPS signal needs to be set to a value equal to or less than
the period of the EVENT pulse.
The trigger pulse may be TTL-compatible or open collector. Minimum pulse

duration is 100 nanoseconds when the signal is not terminated at the receiver
input. The impedance is approximately 2K ohms.
Use a coaxial cable with BNC connectors to connect the camera trigger
output to the photogrammetry input connector of the SCA-12/12S.
Time Tagging the Shutter Signal

In this technique, the signal generated by the camera shutter is fed to a GPS
receiver for accurate time-tagging which can then be post-processed with the
GPS observations. Since the time of the picture is not synchronized with the
time that the GPS measurement is taken, the two position computations
before and after the shutter time are interpolated to compute the position of
the camera at the time the picture was taken.
If the GPS measurements are recorded at the rate of one per second, the
distance that the aircraft moves in ½ second is about 100 meters. Therefore,
the distance between the position of the camera at the time the picture was
taken and the GPS position fixes can be as much as 50 meters. The motion
of the aircraft during this time may be in the meter range.
To minimize the errors discussed above, the closed loop technique is

recommended.
37
Closed-Loop Technique
The closed-loop technique combines PPS synchronization and shutter timing
as shown in Figure 6.
Figure 6. Closed-Loop Technique
In this technique, the 1PPS output of the SCA-12/12S triggers a camera

shutter. The camera shutter generates a signal that is fed to the SCA-12/12S
for accurate time tagging, better than one microsecond.
The delay between the camera receiving the pulse and triggering the EVENT
IN port should be calculated. This may then be applied so as to advance the
1PPS from the SCA-12/12S so that the shutter time exactly matches the GPS
time for the epoch. No interpolation between the shutter time and the GPS
position time will be needed.
PULSE GENERATION (1PPS)
38
When the 1PPS [L] option is installed, the SCA-12/12S provides the
capability of a 1 pulse-per-second (1PPS) signal syncronized with GPS time.
The PPS signal is TTL-level into a 75-ohm impedance. 1PPS is generated
by default once every second with its rising edge synchronized to GPS time.
Using the $PASHS,PPS command, the period of the PPS may be changed
fron one second up to 32 seconds, and may be offset from GPS time up to
500 milliseconds with a resolution of 100 nanoseconds.
In the SCA-12, PPS is output through Port C. In the SCA-12S, PPS is output
on pin 15 of the DB25 connector.
Figure 7 shows the PPS characterisics. PPS occurs when the signal goes
high. PPS is generated exactly on the GPS second as long as at least 4 SVs
are locked. If fewer than 4 SVs are locked, position must be held fixed to
ensure accuracy of the pulse. The pulse remains high for 1-2 milliseconds.
Accuracy is ± 100 microseconds.
Figure 7. 1PPS Pulse
39
40
RECEIVER COMMANDS
Receiver commands are used to change various default operating parameters
such as elevation mask, latitude of antenna, operating modes, etc. Receiver
commands can be either SET commands or QUERY commands. SET
commands are used to change the desired parameter. QUERY commands
are used to display parameter and operating information stored in the
receiver.
Set command messages are accepted by all serial ports. When the SCA-
12/12S receives a set command message it returns an "acknowledged"
message if it accepts the command; the SCA-12/12S returns a "not
acknowledged" message if it rejects the command.
The set command message format is:
$PASHS,xxx,<data items>*cc<Enter>
Where:
$ Message start character
PASHS proprietary Ashtech set message header
xxx proprietary message ID for message command
<data items> data field dependent upon message ID
* Checksum character delimiter - optional
cc Checksum bytes - optional
NOTE
All message items between the $ and the * including data items are
separated by commas; if any of these message items is not
available, it will be omitted.
The acknowledged message is: $PASHR,ACK*3D<Enter>.
The not-acknowledged message is: $PASHR,NAK*30<Enter>.
Examples:
1) Set message $PASHS,UNH,Y<Enter> instructs the SCA-12/12S to
include unhealthy satellites in position fix computation; the SCA-
12/12S returns $PASHR,ACK*3D<Enter>.
Command/Response Formats 41
2) Set message $PASHS,UNH lacks the data (Y or N), therefore the

SCA-12/12S returns $PASHR,NAK*30.
NOTE
To get the current status of parameters altered by the set
commands, send the applicable query command
$PASHQ,PAR for paramters
$PASHQ,RAW for raw data
$PASHQ,RTC for real time, or
$PASHQ,SES for session.
The query commands are used to request current GPS information and
receiver status information such as port baud rate setting, position
information, and tracking information. Query command messages can be
sent to the SCA-12/12S through RS-232 serial port A, B, or C, and in some
cases, also directed so that the SCA-12/12S responds through either port A,
B, or C. The SCA-12/12S acknowledges a valid query command message by
sending , the requested response message through the specified port. The
information requested is sent once each time the command is issued and is
not repeated.
The query command message format is:
$PASHQ,xxx,<data items>*cc<Enter>
Where:
$ NMEA message start character
PASHQ proprietary Ashtech query message header
xxx proprietary message ID for message command
<data items> data field dependent upon message ID
* Checksum character delimiter - optional
cc NMEA checksum bytes - optional.
NOTE
All message items between the $ and the * including data items are
separated by commas; if any of these message items are omitted,
the SCA-12/12S ignores the command.
Table 1 lists these receiver commands alphabetically by function, and then

alphabetically within each function. The commands are described in detail
in the pages following Table 1.
Table 1. Receiver Commands
FUNCTION COMMAND DESCRIPTION
Antenna position $PASHS,ALT Set ellipsoidal height of antenna

$PASHS,LAT Set latitude of antenna
$PASHS,LON Set longitude of antenna
$PASHS,POS Set position of antenna
Antenna height $PASHS,ANH Set height of antenna
Data recording $PASHS,EPG Set epochs to go

$PASHS,MSV Set minimum number of satellites
$PASHS,REC Turn data recording on/off
$PASHS,RCI Set recording interval
$PASHS,SIT Set site name
Dilution of $PASHS,HDP Set HDOP mask for position computation

Precision $PASHS,PDP Set PDOP mask for position computation
(DOP) $PASHS,VDP Set VDOP mask for position computation
Elevation masks $PASHS,ELM Set data collection elevation mask

$PASHS,PEM Set elevation mask for position computation
File generation/ $PASHS,DSC Store string to current open file

data storage $PASHS,FIL Close or delete current file
$PASHS,RNG Set data type
$PASHQ,DIR Request receiver file directory information
Ionosphere $PASHS,ION Include/exclude ionospheric model
Memory $PASHS,CLM Clear external memory

$PASHS,RST Reset receiver and clear all memory
$PASHS,SAV Save parameters in battery-backed-up memory
$PASHQ,MEM Request result of last memory test
Photogrammetry/ $PASHS,PHE Set photogrammetry edge

1PPS $PASHS,PHO Delete photogrammetry file
$PASHS,PPS Set period and offset of 1PPS signal
$PASHQ,PPS Display 1PPS parameters
Position $PASHS,FIX Set altitude hold position fix mode

computation $PASHS,PMD Set position computation mode
$PASHS,PPO Set the point positioning mode
$PASHS,UNH Omit/include unhealthy satellites for position computation
Receiver $PASHS,DSY Configure serial ports as daisy chain

configuration $PASHS,LPS Set loop tracking parameters
$PASHS,POW Set battery capacity, remaining power, voltage
$PASHS,PWR Turns the SCA-12 unit off
$PASHS,SPD Set baud rate of serial port
$PASHQ,PAR Request current settings of sensor parameters
$PASHQ,PRT Request port baud rate
$PASHQ,RID Request receiver identification
Satellites $PASHS,SVS Designate SVs to acquire

$PASHS,USE Designate satellites to use
$PASHQ,SEL Request SVs being tracked or searched in each channel
$PASHQ,STA Request status of SVs currently locked
Session $PASHS,SES,PAR Set session programming parameters

programming $PASHS,SES,SET Set individual session programming parameters
$PASHQ,SES Request session program parameters
Antenna Position Commands

The antenna position commands let you set the altitude, latitude, and
longitude of the antenna.
Altitude of Antenna, Altitude Hold Fix

$PASHS,ALT,sxxxxx.xx
Sets the ellipsoidal height of the antenna, where s = + or -, and x = 0 to
99999.99. The SCA-12/12S uses this data in the position calculation for 2-D
position computation, and when the receiver is in differential base mode.
Examples:
$PASHS,ALT,+100.25<Enter>
$PASHS,ALT,-30.1<Enter>
Latitude of Antenna Position

$PASHS,LAT,ddmm.mmmmmmm,x
Sets the latitude of the antenna used in differential base mode, where
ddmm.mmmm is latitude in degrees (dd) and decimal minutes
(mm.mmmmmmm), and x is N (North) or S (South). The default is 0.
Example:
$PASHS,LAT,3722.3819219,N<Enter>
Longitude of Antenna Position

$PASHS,LON,dddmm.mmmmmmm,x
Sets the longitude of the antenna used in differential base mode, where
dddmm.mmmm is longitude in degrees (ddd) and decimal minutes
(mm.mmmmmmm), and x is E (East) or W (West). The default is 0.
Example:
$PASHS,LON,12159.8291219,W<Enter>
Position of the Antenna

$PASHS,POS,ddmm.mmmmmmm,x,dddmm.mmmmmmm,y,sxxxxx.xx
Sets the position of the antenna used in differential base mode, where
ddmm.mmmmmmm is latitude in degrees (dd) and decimal minutes
(mm.mmmmmmm), x is North (N) or South (S), dddmm.mmmmmmm is
longitude in degrees (ddd) and decimal minutes (mm.mmmmmmm), y is
East (E) or West (W), and sxxxxx is the ellipsoidal height in meters where
s is the sign (+ or -) and xxxxx ranges from 0 to ±99999.99.
Example:
$PASHS,POS,3722.2912129,N,12159.7998265,W,+15.25<Enter>
Antenna Height Command

$PASHS,ANH,x.xxxx
Sets the antenna height, where x.xxxx is the height in meters. Maximum
value is 6.4000.
Example:
$PASHS,ANH,2.0000<Enter>
Data Recording Commands

The data recording commands let you define parameters for recording data.
epochs to go, record on/off, recording interval, and site name.
Epochs To Go
$PASHS,EPG,x
Set epochs to go (for kinematic use), where x (number of epochs to go) is a
number between 0 and 999. Epochs to go is a counter used during kinematic
surveys that specifies the number of data epochs to be collected at the current
site. When the counter reaches 0, the site name automatically changes to
????, indicating that the antenna is about to move.
Example: Set epochs to 27
$PASHS,EPG,27<Enter>
Set Minimum Satellites

$PASHS,MSV,x
Set the minimum number of satellites for data collection, where x is a
number between 1 and 9. Default is 3.
Example: Set minimum satellites to 4
$PASHS,MSV,4<Enter>
Turn Data Recording On/Off

$PASHS,REC,x
Turn data recording on or off, where x is Y (yes) or N (no).
Example: Turn data recording on
$PASHS,REC,Y<Enter>
Recording Interval
$PASHS,RCI,x.x
Sets the value of the interval at which data will be output or recorded, where
x is any ½-second or full-second number between 0.5 and 999.5 in seconds
(½ second is not available if the 2HZ option is not installed). Default is 20.0.
Example: Set recording interval to 5.0 seconds
$PASHS,RCI,5.0<Enter>
Set Site Name

$PASHS,SIT,x
Set the site name, where x is user-defined string of four characters.
Example: Set site name to 0001
$PASHS,SIT,0001<Enter>
Dilution Of Precision Commands

The dilution of precision (DOP) commands let you set the horizontal,
position, and vertical DOP masks for position computation.
$PASHS,HDP,x
Set the value of the HDOP mask (default = 4), where x is a number between
0 and 99.
Example:
$PASHS,HDP,6<Enter>
$PASHS,PDP,x
Set the value of the PDOP mask to x, where x is a number between 0 and 99.
Position will not be computed if the PDOP exceeds the PDOP mask. The
default is 40.
Example: Set PDOP to 30

$PASHS,PDP,30<Enter>
$PASHS,VDP,x
Set the value of the VDOP mask (default = 4), where x is 0 to 99.
Example: Set VDOP to 6

$PASHS,VDP,6<Enter>
Elevation Mask Commands

The elevation masks let you set masks for data collection and position
computation.
$PASHS,ELM,x
Set the value of the SV elevation mask for data collection, where x is a
number between 0 and 90 (default = 5 degrees)
Example: Set elevation mask to 10 degrees

$PASHS,ELM,10<Enter>
$PASHS,PEM,d
Set elevation mask for position computation where d is 0 to 90 degrees.
Default is 5 degrees.
Example: Set position elevation position mask to 15 degrees

$PASHS,PEM,15<Enter>
File Generation//Data Storage Commands

The file generation/data storage commands let you control file operations and
set data type.
Store String
$PASHS,DSC,s
Store a string as an event data to current open file in receiver, where s is an
ASCII string, maximum 80 characters. The file is output as a D-file during
data downloading.
Example: Store string "This is a test"

$PASHS,DSC,This is a test<Enter>
Close or Delete File
$PASHS,FIL,x,y
Closes the current file or deletes a designated file, where x is C for close or
D for delete, and y is the file number. The receiver can store up to 10 files
in mode 0 or 2.
NOTE
The first file is numbered 0, not 1.
Examples:
$PASHS,FIL,C<Enter> Close the last file and open a new one.
$PASHS,FIL,D,y<Enter> Delete file y
Type of Data
$PASHS,RNG,x
Set data type mode, where x is 0 or 2: 0 = geodetic data (B-file), 2 = position
data (C-file).
File Directory
$PASHQ,DIR,x
This command requests receiver file directory information, where x is port
A, B, or C.
The associated receiver response message is:
$PASHR,DIR,d1,d2,d3,d4,d5,d6,d7,d8,d9*CK
where
d1 = total number of files, range 1 to 10
d2 = file name, 4 characters
d3 = file size in Kwords, 4 digits
d4 = weeknumber(3 char), day (1 char), hours (2 char), min(2 char)
d5 - d7 for second file (if any)
d8 = free memory in external RAM in Kwords, 4 digits
d9 = percent of external RAM free in %
Ionospheric Model Commands

$PASHS,ION,x
Exclude or include the ionospheric model model from the position
computation, where x = N (no) or Y (yes). Default is N (exclude).
Example: Include ionospheric model
$PASHS,ION,Y<Enter>
Memory Commands
The memory commands let you clear external memory, save parameters, and
reset the receiver.
Clear External Memory
$PASHS,CLM
Clear and test the external memory where files are stored.
Example:
$PASHS,CLM<Enter>
This command deletes all the files and finds the size of the external memory
and tests it. The response to this command is:
$PASHR,CLM,WAIT<Enter>
$PASHR,CLM,SIZE,xxxxKW<Enter> (xxxxKW is kilowords, 0 to 9999)
$PASHR,CLM,PASSED<Enter>
$PASHR,CLM,FAILED,d1,WRITE,d2,READ,d3<Enter>
where
d1 = address of the failed location
d2 = the pattern written to this location
d3 = the pattern read from this location
Save Parameters
$PASHS,SAV,x
Enables or disables the command to save user parameters in memory, where
x is Y (yes) or N (no). Parameters are saved until the receiver is reset.
Example: Enable the save parameter command

$PASHS,SAV,Y<Enter>
Reset SCA-12/12S
$PASHS,RST<Enter>
Reset the SCA-12/12S and clear all memory. All parameters are reset to the
defaults, and all almanac data is cleared.
Memory Test Status
$PASHQ,MEM
Show the result of the last memory test of the SCA-12/12S.
Example:
Query: $PASHQ,MEM<Enter>
Response: $PASHR,MEM,00000000,00000000,00000000
Photogrammetry (Event Marker) and 1 PPS Commands

$PASHS,PHO,D
This command allows you to delete the photogrammetry file from the
receiver memory.
Example: Delete the photogrammetry file

$PASHS,PHO,D<Enter>
Set Photogrammetry Edge
$PASHS,PHE
The SCA-12/12S receiver allows you to set the edge (rising or falling) at
which the trigger signal associated with the event marker will be recorded in
memory. To set the edge of the trigger signal, use the following command:
$PASHS,PHE,x
where x = R (photo rising edge), or F (photo falling edge). Default is R.
$PASHQ,PHE,x
The associated query command is $PASHQ,PHE,x<Enter>, where x is port
A, B, or C.
Example: Check photogrammetry edge on port B

Query: $PASHQ,PHE,B<Enter>
Response:$PASHR,PHE,R (or F)
1 PPS Pulse Output
$PASHS,PPS
The SCA-12/12S receiver can generate 1PPS pulse with programmable
period and offset. 1 PPS is generated by default once every second with its
rising edge synchronized to the GPS time. To change the period and the
offset of the pulse use the following command:
$PASHS,PPS,xx,yyy.yyyy,a<Enter>
where
xx 1PPS period in seconds (max 60)
yyy.yyyy offset from GPS time in milliseconds, with
10ns resolution
a R or F. R means generate the PPS on the rising
edge of the pulse. F means generate the PPS
on the falling edge of the pulse.
$PASHQ,PPS
The associated query command is $PASHQ,PPS,x<Enter>, where x is port
A, B, or C.
Example: Check PPS parameters on port A

$PASHQ,PPS,A<Enter>
The receiver response message is in the form:
$PASHR,PPS,xx,yyy.yyyy,a
The 1PPS parameters are saved automatically through a power cycle.
Position Computation Commands

The position computation commands let you set altitude hold, set position
computation mode, and omit or include unhealthy satellites.
Fix, Altitude Hold Position
$PASHS,FIX,x
Set altitude hold position fix mode for the altitude used (for 2-D position
determination), where x is 0 or 1.
x = 0 (default), the most recent antenna altitude is used

in altitude hold position fix. The altitude is taken from either the
altitude entered by the $PASHS,ALT command, or the last one
computed when VDOP is less than VDOP mask.
x = 1, only the most recently entered altitude is used
Example:
$PASHS,FIX,0<Enter>
Position Mode
$PASHS,PMD,x
Set position mode for minimum number of SVs required to compute a
position fix, where x = 0, 1, 2, or 3.
x=0 minimum of 4 SVs needed (e.g., for 3-D)

x=1 default, minimum of 3 SVs needed; with 3 SVs, altitude is
held (2-D); with 4 or more, altitude is not held (3-D)
x=2 minimum of 3 SVs needed; altitude always held (always 2-D)
x=3 minimum of 3 SVs needed; with 3 SVs, altitude is always
held; with 4 SVs, altitude is held only if HDOP is greater than
HDOP mask (2-D), otherwise 3-D
Example: Set min SVs for 3-D computation
$PASHS,PMD,0<Enter>
Point Positioning Mode
$PASHS,PPO,x
Enables or disables the point positioning mode, where x is Y (yes) or N (no).
Example: Enable point positioning mode

$PASHS,PPO,Y<Enter>
Unhealthy SV Select Group
$PASHS,UNH,x
Omit unhealthy SVs from position computation computation, where x is Y
(yes) or N (no).
Example: Include unhealthy SVs

$PASHS,UNH,Y<Enter>
Receiver Configuration Commands

The receiver configuration commands let you set and monitor various
operating parameters in the receiver.
Daisy Chain
$PASHS,DSY,x,y
When the receiver is in daisy chain mode it redirects all characters from one
serial port to the other without interpreting them, where x is the source port
and y is the destination port. Any combination may be chosen (ex: A-> B,
B->C etc.). When a port is in daisy chain mode it can only interpret the OFF
command; all other characters are redirected. The OFF command gets the
port out of daisy chain mode. Redirection can also be bi-directional, that is,
(A-> B and B-> A at the same time. Following is a list of commands and
their effects:
$PASHS,DSY,A,B<Enter> Redirects A to B. Can be issued

from any port.
$PASHS,DSY,B,A<Enter> Redirects B to A. Can be issued
from any port but it cannot be
issued from port A if (1) has
already been sent.
$PASHS,DSY,A,OFF<Enter> Turns off redirection from A.
Can be issued from any port.
$PASHS,DSY,OFF<Enter> Turns off daisy chain on all
ports. Can be issued from any
port.
Loop Tracking
$PASHS,LPS,x,y
Set user-selectable third-order loop tracking parameters. Loop setting allows

you to select the tracking loop parameters based on application. The carrier
and code loop parameters are set independently. Firmware uses default
values until you select another setting. The user settings are saved in battery-
backed memory and are used until a new setting is selected, or the memory
is cleared.
Example:
$PASHS,LPS,xx,y,z<Enter>
x = 0 - 10 (ratio)
y = 1, 2, or 3 (option number for selecting carrier loop)
z = 1, 2, or 3 (option number for selecting code loop)
Example:
$PASHS,LPS,2,1,1<Enter>
$PASHQ,LPS
The associated query command is $PASHQ,LPS,x<Enter>, where x = port
= A, B, or C
$PASHR,LPS
The response is $PASHR,LPS,x,y,z
where
x = 0-10 (ratio)
y = 1, 2, or 3 (option number for selecting carrier loop)
z = 1, 2, or 3 (option number for selecting code loop)
Loop setting values:

1. Third-order ratio for carrier loop x (default = 1):
x = 0 indicates ratio of 0, i.e., no third-order, the carrier loop is a
regular second-order loop (with damping of 1 instead of 0.7 as in
previous versions)
x = 1 indicates ratio of 0.1, for low acceleration rate
x = 10 indicates ratio of 1.0, for high acceleration rate
2. carrier loop parameter y (default = 2):
y = 1 indicates noise bandwidth of 0 = 10;
static, very low phase noise
y = 2 indicates noise bandwidth of 0 = 25;

low dynamics, low phase noise ( < 2g)
y= 3 indicates noise bandwidth of 0 = 50;
high dynamics, medium phase noise ( < 6g)
3. code loop parameter z (default = 1):
z = 1 indicates noise bandwidth of 0 = 1.0;
fast range availability (5 sec), medium range noise
medium range availability (10 sec), low range noise
slow range availability (50 sec), very low range noise
Power Consumption Set/Query Commands
$PASHS,POW,xxxxx,yyy,zz.z
Issue this command when the battery is fully or partially charged and
inserted into the receiver,
where:
xxxxx battery capacity in mAh (500 - 10000)
yyy remaining power in percent (100 if fully charged)
zz.z battery voltage
$PASHQ,POW
To query the battery condition issue the command
$PASHQ,POW,x<Enter>
where x is the port ID, A, B, or C.
$PASHR,POW
The response message to the query command $PASHQ,POW is
$PASHR,POW,wwwww,xxxxx,yyyyy,zz.z
wwwww battery capacity in minutes
xxxxx capacity left in minutes
yyyyy battery capacity in mAh
zz.z battery voltage
NOTE
Indications are estimates based on the accuracy of the data entered
with the $PASHS,POW command.
Power Off
$PASHS,PWR,OFF
The SCA-12 receiver can be turned off by issuing the following command:
$PASHS,PWR,OFF<Enter>
To turn on the receiver, send any character through serial port A.
Speed of Serial Port
$PASHS,SPD,x,s
Set the baud rate of the SCA-12/12S serial port x, where x is A, B, or C, and
s is a number between 0 and 7 specifying the baud rate as shown in the table
below. Default is 9600 baud.
Code Baud Rate Code Baud Rate

0 300 4 4800
1 600 5 9600
2 1200 6 19200
3 2400 7 38400
To resume communication with the SCA-12/12S after changing the baud rate
using this command, change the baud rate of the command device.
Example: Set port A to 19200 baud

$PASHS,SPD,A,6<Enter>
Request Current Receiver Parameters
$PASHQ,PAR
To request current settings of receiver parameters, issue the command
$PASHQ,PAR<Enter>.
Example:
$PASHQ,PAR<Enter>
SVS:YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY
PMD:1 FIX:0 PDP:40 HDP:04 VDP:04
PEM:05 PPO:N UNH:N ION:N SAV:N
DIF_RTCM MOD:OFF PRT:A
DIF_ASH MOD:OFF PRT:A
LAT:00:00.00000N LON:000:00.00000E ALT:+00000.00
NMEA: POS GLL GXP GGA VTG GSN MSG GSS SAT GRS RRE TTT GSV GSA
PRTA: OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
PRTB: OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
PRTC: OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
PER:000.5
For a description of the parameters, see the $PASHS,PAR section of the

Operations chapter.
$PASHQ,RID
Show the receiver ID for the SCA-12/12S firmware version and installed
options.
Example:
$PASHQ,RID<Enter>
$PASHR,RID
The response to the $PASHQ,RID command is a message in the form
$PASHR,RID,SC,vvvv,ooooooooooooo*cc<Enter>
where
SC = SCA-12/12S
vvvv = firmware version
ooooooooooooo = installed options
For more information on the options, see the Receiver Options section of the
Operation chapter.
Example:
Query: $PASHQ,RID<Enter>
Response: $PASHR,RID,SC,1D00,-*1A<CR><LF>
$PASHQ,PRT
Display baud rate in effect for the connected port.
Example:
$PASHQ,PRT<Enter>
$PASHR,PRT
The response is a message in the form
$PASHR,PRT,x,s<CR><LF>
where
x = communication port, A, B, or C
s= communication speed according to the code table
below
Code Baud Code Baud

Rate Rate
0 300 4 4800
1 600 5 9600
2 1200 6 19200
3 2400 7 38400
Satellite Commands
The satellite commands let you acquire selected satellites and designate
satellites to use.
Designate Satellites to Acquire
$PASHS,SVS,xxx...x
Select SVs that the SCA-12/12S will attempt to acquire, where x:
x = Y, SV is used (default).
x = N, SV is not used.
NOTE
Up to 32 SVs may be selected. They are entered in order of PRN
number. If fewer than 32 are specified the rest are set to N. Only
the characters Y and N are accepted.
Example: Use 1-9; do not use 10,11; use 12, 13; do not use 14-32
$PASHS,SVS,YYYYYYYYYNNYYNNNNNNNNNNNNNNNNNNN<Enter>
Designate Satellites to Use
$PASHS,USE,d,c
Selects satellites to track or not track.
d = PRN number of the satellite (range from 1 to 32)

c = Y to use, N to not use
Example: Use (track) satellite 15

$PASHS,USE,15,Y<Enter>
Request Status of Satellites Being Tracked
$PASHQ,SEL
Show what satellites are being tracked or searched for each channel. The
information is displayed repeatedly from channel 1 to 12.
Example:
Query: $PASHQ,SEL<Enter>
Response: 01 28 31 06 21 22 23 27 29 26 17 09
Show Status of SVs

$PASHQ,STA
Show the status of SVs currently locked by the SCA-12/12S: present time, the
PRN number, and the signal count.
Example:
Query: $PASHQ,STA<Enter>
Response:
TIME: 18:38:31 UTC
LOCKED: 03 23 16
COUNT : 54 26 17
Session Programming Commands

The session programming commands let you define general and individual
session parameters.
To set general session parameters use the command:
$PASHS,SES,PAR,c1,d1,d2<Enter> where
c1 = mode, N = normal, Y = session, S = sleeping mode

d1 = reference day, 0 - 365,
d2 = offset, mmss, where mm and ss are minutes and seconds,
respectively. Range : 00:00 to 59:59.
To set parameters for an individual session use the command:
$PASHS,SES,SET,c1,c2,d1,d2,f,d3,d4,d5<Enter>
c1 - session label, A to J
c2 - session flag, Y or N
d1 - session starting time, hhmmss, where hh, mm, and ss are hours,
minutes, and seconds respectively.
d2 - session ending time, hhmmss
f - recording interval in seconds
d3 - elevation mask, degrees
d4 - minimum number of satellites
d5 - data type stored, 0 or 2
0 = geodetic data B files, 2 = position C files
Session Programming and Sleep Mode

$PASHS,SES,SET
The receiver provides the capability to set up sessions for recording. The
maximum number of sessions is limited to ten. To conserve battery power,
the receiver also provides an automatic power-on and power-off feature
according to the session schedule.

Serial commands can be used to provide and modify the input data. The input
data goes through the validation process and is rejected if it fails to pass
certain criteria. Sessions are re-arranged in the ascendant order of session
starting times. Data is recorded if the following conditions are satisfied:
C record flag is set.
C receiver is in session mode.
C current time falls within the range of one of the sessions.
The receiver has two operation modes : normal mode or session mode. If a
non-scheduled power-on event occurs the receiver is automatically set to the
normal mode.
The associated query command $PASHQ,SES<Enter> can be used to
display session parameters.
The receiver response is:
START END INT MASK MIN TYPE
A N 00:00:00 00:00:00 020.0 10 3 0
B N 00:00:00 00:00:00 020.0 10 3 0
C N 00:00:00 00:00:00 020.0 10 3 0
D N 00:00:00 00:00:00 020.0 10 3 0
E N 00:00:00 00:00:00 020.0 10 3 0
F N 00:00:00 00:00:00 020.0 10 3 0
G N 00:00:00 00:00:00 020.0 10 3 0
H N 00:00:00 00:00:00 020.0 10 3 0
I N 00:00:00 00:00:00 020.0 10 3 0
J N 00:00:00 00:00:00 020.0 10 3 0
INUSE:N REF:000 OFFSET:00:00 TODAY:327
RAW DATA COMMANDS

The raw data commands let you enable or disable various raw data messages.
Table 2 lists the raw data commands.
Table 2. Raw Data Commands

Command Function
$PASHS,NME,MBN Enable/disable raw measurement data message with Ashtech
type 2 data structure
$PASHS,NME,MCA Enable/disable raw measurement data message with Ashtech
type 3 data structure
$PASHS,NME,PBN Enable/disable raw position data message
$PASHS,NME,SNV Enable/disable raw ephemeris data message
$PASHS,NME,SAL Enable/disable raw almanac data messsage
$PASHQ,RAW Show current settings of raw data parameters
The general format for raw data set commands is
$PASHS,NME,str,x,y
This command enables or disables raw data message type str on port x,
where x is either A, B, or C, and str is one of the following character stamps:
MBN, MCA, PBN, SNV, SAL, and y is ON or OFF. Raw data message is
output in binary format.
Example:
$PASHS,NME,MBN,A,OFF<Enter>
NOTES
MBN and PBN messages are output at each recording interval (set
with command $PASHS,RCI,x). SNV and SAL are output one
satellite at each recording interval, once every hour, including
when first requested. SNV is output once every hour.
All raw data query ($PASHQ) commands will output a single response.
To get a later response, you will have to reissue the command.
Enable/Disable MBN Message
$PASHS,NME,MBN,x,y
Enable/disable measurement data (MBN) messages with Ashtech type 2
structure on port x, where x is A, B, or C, and y is ON or OFF.
NOTE
This message is output in binary format on every recording interval
(RCI) for those locked SVs with elevation equal to or greater than the
elevation mask (ELV), and only if the number of locked SVs is equal to
or greater than minimum satellite mask (MSV).
Example: Disable MBN message on port B

$PASHS,NME,MBN,B,OFF<Enter>
$PASHQ,MBN,x
The associated query command is $PASHQ,MBN,x<Enter>. This command
outputs one MBN measurement data response message on port x, where x is
A, B, or C.
$PASHR,MBN
The response is a binary message in the following form:
$PASHR,MBN,(measurement structure) checksum<CR><LF>
where the measurement structure is:
Field Bytes Content

char datatype 1 Always = 1
char count 1 Number of measurement structures to follow after this one.
char svprn 1 Satellite PRN number minus 1 (between 0 and 31)
char chnind 1 Channel number (between 1 and 12)
long lost_lock_ctr 4 Continuous counts since satellite is locked. This number is incremented
about 500 times per second
char polarity 1 This number is either 4 or 5, 4 meaning satellite is just locked, and 5
meaning the beginning of the first frame has been found.
char goodbad 1 This number is either 22 or 24, 22 meaning the satellite is not usable, 24
meaning the satellite is usable for position computation.
char warning 1 Always 0
char ireg; 1 Satellite signal strength
double codetxmt 8 The fractional part of the satellite transmit time in seconds. The integer part
of this number must be ignored.
long doppler 4 Satellite doppler in units of 0.00001 Hz.
double intdoppler 8 Total phase - available only if carrier phase option installed.
short carphase1 2 Fraction of total phase - available only if carrier phast option installed.
short carphase2 2 Smooth correction x 100 - available only if carrier phase option installed.
short elevation 2 Satellite elevation in units of 0.01 degrees.
short azimuth 2 Satellite azimuth in degrees.
checksum 2 The checksum is computed by breaking the structure into 20 unsigned shorts,
adding them together, and taking the least significant 16 bits of the result.
total characters 42
Enable/Disable MCA Message
$PASHS,NME,MCA,x,y
Enable/disable measurement data (MCA) messages with Ashtech type 3
structure on port x, where x is A, B, or C and y is ON or OFF.
NOTE
This message is output for those SVs with elevation equal to or
greater than the elevation mask, and only if the number of locked
SVs is equal to or greater than the minimum satellite mask.
Example: Enable MCA message on port A

$PASHS,NME,MCA,A,ON<Enter>
$PASHQ,MCA,x
The associated query command is $PASHQ,MCA,x<Enter>. This command
outputs one MCA measurement data response message on port x where x is
A, B, or C.
$PASHR,MCA
The response is binary measurement data with Ashtech type 3 structure, The
response message is in the following format:
$PASHR,MCA,(measurement structure) checksum <CR><LF>

where the measurement structure is:
Field Bytes Content

unsigned short sequence tag 2 Sequence ID number in units of 50 ms, modulo 30 minutes
unsigned char left 1 Number of remaining MBEN structures to be sent for current
epoch.
unsigned char svprn 1 Satellite PRN number
unsigned char elev 1 Satellite elevation angle in degrees
unsigned char azim 1 Satellite azimuth angle in degrees/2
unsigned char chnind 1 Channel ID (1 to 12)
unsigned char warning 1 Warning flag, where:
Bit 1 set = see note below
Bit 2 set = see note below
Bit 3 set = carrier phase questionable
Bit 4 set = code phase questionable
Bit 5 set = code phase integration questionable
Bit 6 set = not used
Bit 7 set = possible loss of lock
Bit 8 set = loss of lock counter reset
The interpretation of bits 1 and 2 is as follows:

Bit 1 Bit 2
0 0 Same as 22 in goodbad flag (see next field)
1 0 Same as 23 in goodbad flag
0 1 Same as 24 in goodbad flag
Note that more than one bit may be set at the same time, e.g.,
if bits 1, 3, and 6 are set at the same time, the warning flag is
37 (1 + 4 + 32)
unsigned char goodbad 1 Indicates quality of the position measurement, where:
0= measurement not available and no additional data
will be sent
22 = code and/or carrier phase measured

23 = code and/or carrier phase measured, and navigation
message was obtained, but measurement was not
used to compute position
24 = code and/or carrier phase measured, navigation
message was obtained, and measurement was used to
compute position
unsigned char polarity_know 1 Indicates synchronization of receiver with NAV message
unsigned char ireg 1 Signal-to-noise of satellite observation

unsigned char qa_phase 1 Phase quality indicator. 0 to 5 and 95 to 100 are normal.
double full phase 8 Full carrier phase measurements in cycles. Not available
unless carrier phase option is installed.
double raw_range 8 Raw range to SV in seconds, i.e., receive time - raw range =
transmit time.
long doppler 4 Doppler (10-4 Hz)
long smoothing 4 32 bits where 31-24 are the smooth_count, unsigned, and
normalized, representing the amount of smoothing where:
1 is least smoothed
200 is most smoothed
0 in unsmoothed
Bits 23-0 are smooth_corr, where bit 23 (MSB) is the sign
and the LSBs (22-0) are the magnitude of correction in
centimeters.
checksum 1 Checksum, a bytewise exclusive OR (XOR) of all bytes from
sequence_tag (just after header) to the byte before checksum.
total characters 37
For a given channel expecting more than one block of data, when one of
them is not yet available, its warning flag is set to 7 and the rest of the block
is zeroed out.
Enable/Disable PBN Message
$PASHS,NME,PBN,x,y
Enable/disable position data (PBN) messages on port x, where x is A, B, or
C and y is ON or OFF.
Example: Enable PBN on port B

$PASHS,NME,PBN,B,ON<Enter>
$PASHQ,PBN,x
The associated query command is $PASHQ,PBN,x <Enter>. This command
outputs one PBN position measurement data response message on port x,
where x is A, B, or C. This message is output in binary format.
Example: Read PBN or port A

$PASHQ,PBN,A<Enter>
$PASHR,PBN
The response is a message giving binary position data output on every
recording interval (RCI). The message is in the form:
$PASHR,PBN,(position structure) checksum<CR><LF>
Field Bytes Content

long rcvtime 4 Signal received time in milliseconds of week of GPS time. This is the time tag
for all measurements and position data.
char sitename 4 Set to ????.
double navx 8 Antenna position ECEF x coordinate in meters.
double navy 8 Antenna position ECEF y coordinate in meters.
double navz 8 Antenna position ECEF z coordinate in meters.
float navt 4 Receiver clock offset in meters.
float navxdot 4 The antenna x velocity in meters per second.
float navydot 4 The antenna y velocity in meters per second.
float navzdot 4 The antenna z velocity in meters per second.
flost navtdot 4 Receiver clock drift in meters per second.
unsigned short 2 PDOP multiplied by 100.
PDOP
checksum 2 The checksum is computed by breaking the structure into 27 unsigned shorts,
adding them together, and taking the least significant 16 bits of the result.
total characters 56
Enable/Disable SNV Message
$PASHS,NME,SNV,x,y
Enable/disable ephemeris data (SNV) messages on port x where x is A, B,
or C, and y is ON or OFF.
Example: Enable SNV on port C

$PASHS,NME,SNV,C,ON<Enter>
NOTE
Ephemeris data is output once every hour or each time the IODE
changes, whichever comes first, with one satellite output at each
recording interval (RCI).
$PASHQ,SNV,x
The associated query command is $PASHQ,SNV,x<Enter>. This command
calls the SNV ephemeris data response message on port x, where x is A, B,
or C, and y is ON or OFF.
Example: Display SNV on port A

$PASHQ,SNV,A<Enter>
$PASHR,SNV
The response is a message that displays ephemeris data for all locked
satellites The binary format is
$PASHR,SNV,(ephemeris structure) checksum<CR><LF>

and the data structure is as tabulated below.
Field Bytes Content

short wn 2 GPS week number.
long tow 4 Seconds of GPS week.
float tgd 4 Group delay (seconds).
long aodc 4 Clock data issue.
long toc 4 Clock data reference time in seconds.
float af2 4 Clock correction (sec/sec2).
float af1 4 Clock correction (sec/sec).
float af0 4 Clock correction (sec).
long aode 4 Orbit data issue.
float deltan 4 Mean anomaly correction (semicircles/sec).
double m0 8 Mean anomaly at reference time (semicircles).
double e 8 Eccentricity.
double roota 8 Square root of semi-major axis (meters 1/2).
long toe 4 Reference time for orbit (sec).
float cic 4 Harmonic correction term (radians).
float crc 4 Harmonic correction term (meters).
float cis 4 Harmonic correction term (radians).
float crs 4 Harmonic correction term (meters).
float cuc 4 Harmonic correction term (radians).
float cus 4 Harmonic correction term (radians).
double omega0 8 Longitude of ascending node (semicircles).
double omega 8 Argument of perigee (semicircles).

double i0 8 Inclination angle (semicircles).
float omegadot 4 Rate of right ascension (semicircles/sec).
float idot 4 Rate of inclination (semicircles/sec).
short accuracy 2 User range accuracy.
short health 2 Satellite health.
short fit 2 Curve fit interval.
char prnnum 1 Satelite PRN number.
char res 1 Reserved character.
checksum 2 The checksum is computed by breaking the structure into 65 unsigned shorts, adding
them together, and taking the least significant 16 bits of the result.
total characters 132
Enable/Disable Satellite Almanac Message

$PASHS,NME,SAL,x,ON/OFF
Enable/disable almanac data (SAL) messages on port x; x is A, B, or C.
Example:
$PASHS,NME,SAL,A,OFF<Enter>
NOTE
Almanac data for all satellites is output once every hour, with one
satellite output at each recording interval (RCI).
$PASHQ,SAL,x
The associated query command is $PASHQ,SAL,x<Enter>. This command
gets the SAL almanac data response message on port x, where x is A, B, or
C.
$PASHR,SAL
The response is a binary message in the form:
$PASHR,SAL,(almanac structure) checksum<CR><LF>
where the almanac structure is:
Field Bytes Content
short prn 2 Satellite PRN number -1.
short health 2 Satellite health.
float e 4 Eccentricity
long toa 4 Reference time for orbit (sec).
float i0 4 Inclination angle (semicircles).
float omegadot 4 Rate of right ascension (semicircles/sec).
double roota 8 Square root of semi-major axis (meters 1/2).
double omega0 8 Longitude of ascending node (semicircles).
double omega 8 Argument of perigee (semicircles).
double m0 8 Mean anomaly at reference time (semicircles).
float af0 4 Clock correction (sec).
float af1 4 Clock correction (sec/sec).
short wna 2 Almanac week number
short wn 2 Week number.
long tow 4 Seconds of GPS week.

checksum 2 The checksum is computed by breaking the structure into 34 unsigned shorts, adding
them together, and taking the least significant 16 bits of the result.
total characters 70
NMEA DATA MESSAGE COMMANDS

NMEA data message commands can be sent to the SCA-12/12S through
serial port A, B, or C, and can also be directed so the message is output
through port A, B, or C. Table 3 lists the available NMEA data message
commands.
Table 3. NMEA Data Message Commands
Command Function
$PASHS,NME,ALL Disable all messages
$PASHS,NME,GGA Enable/disable NMEA GPS position response message
$PASHS,NME,GLL Enable/disable NMEA lat/lon message
$PASHS,NME,GRS Enable/disable NMEA satellite range residual response
$PASHS,NME,GSA Enable/disable NMEA DOP and active satellite information
message
$PASHS,NME,GSN Enable/disable NMEA signal strength/satellite number
response message
$PASHS,NME,GSS Enable/disable NMEA SVS USED message
$PASHS,NME,GSV Enable/disable SATELLITE IN VIEW message
$PASHS,NME,GXP Enable/disable NMEA position computation with time of fix
message
$PASHS,NME,MSG Enable/disable NMEA base station message
$PASHS,NME,PER Set NMEA send interval (period)
$PASHS,NME,POS Enable/disable position message
$PASHS,NME,RRE Enable/disable NMEA satellite residual and position error
message
$PASHS,NME,SAT Enable/disable satellite status message
$PASHS,NME,TTT Emable/disable event marker message
$PASHS,NME,VTG Enable/disable NMEA velocity/course message
The general format for the NMEA message set commands is:
$PASHS,NME,str,x,y<Enter>
The command enables or disables NMEA message type str on port x, where
x is A, B, or C, str is one of the following three-character strings

POS, GLL, GXP, GGA, VTG, GSN, MSG, GSS, SAT, GRS, RRE,
TTT, GSA, GSV
and y is ON or OFF.
Example: Enable NMEA POS (position) message on port A
$PASHS,NME,POS,A,ON<Enter>
Example: Disable NMEA position message on port A
$PASHS,NME,POS,A,OFF<Enter>
After one of the NMEA set commands enables the corresponding NMEA
response message type, the SCA-12/12S will output the message at the
frequency selected by the PASHS,NME,PER set command (default is once
per second or once every half-second if the 2HZ option is available).
The general format of the NMEA message query is:
$PASHS,NME,str,x
where str is one of the NMEA three-character strings, and x is port A, B, or
C. Unlike the set commands that output the corresponding message at the
frequency selected by the $PASHS,NME,PER command, the query
command outputs the message one time.
Disable All NMEA Messages

$PASHS,NME,ALL,x,OFF
Disable ALL NMEA message types on port x, where x is A, B, or C.
Example: Disable all NMEA messages on port A
$PASHS,NME,ALL,A,OFF<Enter>
GGA (GPS Position) Message

$PASHS,NME,GGA,x,y
Enable/disable NMEA GPS position response message on port x, where x is
either A, B, or C, and Y is ON or OFF. This message is not output unless
position is computed.
Example: Enable GGA on port A

$PASHS,NME,GGA,A,ON<Enter>
$PASHQ,GGA,x
The associated query command is $PASHQ,GGA,x<Enter>. This command
outputs the GGA response message on port x, where x is A, B, or C. This
message is not output unless position is computed.
Example: Output GGA message on port B
$PASHQ,GGA,B<Enter>
$GPGGA
The response message is in the form:
$GPGGA,hhmmss.ss,ddmm.mmmmm,s,dddmm.mmmmm,s,n,qq,pp.p,
saaaaa.aa,u,±xxxx.x, M,sss,aaaa *cc<CR><LF>
Field Significance
1 Current UTC time, hhmmss, of position fix in hours, minutes and seconds.
2 Latitude component of position, ddmm.mmmmm, in degrees, minutes and
fraction of minutes.
3 Latitude sector, s = N - North, s = S - South.
4 Longitude component of position, dddmm.mmmmm, in degrees, minutes and
5 Longitude sector, s = E - East, s = W - West.
6 Raw/differential position, n
n = 1 - Raw; position is not differentially corrected
n = 2 - position is differentially corrected.
7 qq = number of SVs used in position computation.
8 HDOP - horizontal dilution of precision, pp.p = 00.0 to 99.9.
9 GPS Sensor-computed altitude, saaaaa
s = "+" or "-"
aaaaa = Altitude 00000 to 30000 meters above WGS-84 reference ellipsoid.
For 2-D position computation this item contains the altitude used to compute
the position computation.
10 Altitude units, u = M - meters.
11 Geoidal separation (value output only if Geoidal Height option (G) is installed
in the receiver).
12 Geoidal separation units, u = M - meters.
13 Age of the differential corrections, sss, in seconds.
14 Base stid, aaaa.
Example:
Query: $PASHQ,GGA,C<Enter> or
Set: $PASHS,NME,GGA,A,ON<Enter>
Response:
$GPGGA,183805.50,3722.36223,N,12159.82741,W,2,03,02.8,
+00016.12,M,31,M,005,0001*6F<CR><LF>
Item Significance
$GPGGA Header
183805.50 Time of position fix
3722.36223 Latitude
N North
12159.82741 Longitude
W West
2 Differential mode
03 Number of SVs used in position computation
02.8 HDOP
+00016.12 Altitude
M Meters. Units of altitude
31 Geoidal separation
M Meters. Units of the geoidal separation
005 Age of differential corrections
0001 Base station ID
6F Message checksum in hexadecimal
GLL (Latitude,Longitude) Message

$PASHS,NME,GLL,x,y
Enable/disable NMEA latitude/longitude response message on port x, where
x is either A, B, or C and y is ON or OFF. This message is not output unless
position is computed.
Example: Enable GLL message on port A
$PASHS,NME,GLL,A,ON<Enter>
$PASHQ,GLL,x
The associated query command is $PASHQ,GLL,x<Enter>. This command
outputs the GLL message on port x, where x is A, B, or C. This message is
not output unless position is computed.
Example: Output GLL message on port B
$PASHQ,GLL,B<Enter>
$GPGLL
$GPGLL,ddmm.mmmmm,s,dddmm.mmmmm,s,hhmmss.ss,s*cc<CR><LF>
Field Significance

fraction of minutes
2 Latitude sector, s = N - North, s = S - South
4 Longitude sector, s = E - East, s = W - West
5 UTC of position (hours, minutes, seconds)
6 Status, A= valid, V=invalid
Example:
Query: $PASHQ,GLL,B<Enter> [or]
Set: $PASHS,NME,GLL,C,ON<Enter>
Response: $GPGLL,3722.36223,N,12159.82741,W,170003,A*7F
Item Significance
$GPGLL Header
3722.36223 Latitude
N North
W West
170003 UTC of position
Item Significance
A Valid
7F Message checksum in hexadecimal
GRS (Satellite Range Residual) Message

$PASHS,NME,GRS,x,y
Enable/disable NMEA satellite range residual response message to port x,
where x is A, B, or C, and y is ON or OFF. This message is not output
unless a position is computed.
Example: Enable GRS message on port C
$PASHS,NME,GRS,C,ON<Enter>
$PASHQ,GRS,x
The associated query command is $PASHQ,GRS,x<Enter>. This command
outputs the GRS message on port x, where x is A, B, or C. This message is
not output unless a position is computed.
Example: Output GRS message on port B
$PASHQ,GRS,B<Enter>
$GPGRS
The response message is in the form
$GPGRS,hhmmss.ss,m,sxx.x,sxx.x,sxx.x,....*cc<CR><LF>
NOTE
Range residuals are recomputed after the GGA position is
computed. Therefore the mode m is always 1. There will be a
range residual sxx.x for each satellite used in position computation,
and the order of the residuals matches the order of the satellites in
the GSS message.
Field Significance
1 Current UTC time, hhmmss.ss, of GGA position fix in hours, minutes, and
seconds
hh = Hours (00 to 23)
mm = Minutes (00 to 59)
ss.ss = Seconds (00.00 to 59.99)
2 Mode, m, used to compute range residuals
0 - Residuals were used to calculate the position given in the matching GGA
line
1 - residuals were recomputed after the GGA position was computed
3 Range residuals (sign s = + or -, and magnitude xx.x) for each satellite used
in position computation. The order of the residuals matches the order of the
satellites in the GSS message.
Example:
Query: $PASHQ,GRS,A<Enter> or
Set: $PASHS,NME,GSN,A,ON<Enter>
Response:
$GPGRS,180257.50,1,+00.3,-00.4,+00.2,+00.5,+00.7,-00.8*64
Item Significance
$GPGRS Header
1 Mode
+00.3 Range residual for first SV in GSS message
-00.4 Range residual for second SV in GSS message
+00.2 Range residual for third SV in GSS message
+00.5 Range residual for fourth SV in GSS message
+00.7 Range residual for fifth SV in GSS message
-00.8 Range residual for sixth SV in GSS message
64 Message checksum in hexadecimal
GSA (DOP and Active Satellites) Message

$PASHS,NME,GSA,x,y
Enable/disable DOP and active satellite message to be sent out to the serial
port, where x is port A, B or C and y is ON or OFF.
Example: Enable GSA message on port B

$PASHS,NME,GSA,B,ON<Enter>
$PASHQ,GSA,x
The associated query command is $PASHQ,GSA,x<Enter>. This command
gets the GSA message on port x, where x is A, B, or C.
Example: Output GSA message on port B
$PASHQ,GSA,B<Enter>
$GPGSA
$GPGSA,c1,d1,d2,d3,d4,d5,d6,d7,d8,d9,d10,d11,d12,d13,f1,f2,
f3*CC<CR><LF>
where
Field Significance
c1 Mode M: manual A:automatic
d1 Mode 2: 2D 3:3D
d2-d13 Satellites used in position computation (range 1 to 32)
f1 PDOP (range 0 - 9.9)
f2 HDOP (range 0 - 9.9)
f3 VDOP (range 0 - 9.9)
CC Checksum
Example:
$GPGSA,A,2,1,4,6,7,9,11,3,2,5, <CR><LF>
GSN (Signal Strength/Satellite Number) Message

$PASHS,NME,GSN,x,y
Enable/disable the signal strength/satellite number response message on port
x, where x is either A, B, or C, and y is ON or OFF.
Example: Enable GSN message on port C
$PASHS,NME,GSN,C,ON<Enter>
$PASHQ,GSN,x
The associated query command is $PASHQ,GSN,x<Enter>, where x is port
A, B, or C.
Example: Output GSN message on port C
$PASHQ,GSN,C<Enter>
$GPGSN
The response is a message in the form:
$GPGSN,qq,pp,ss,ss,.....ttt*cc<CR><LF>
NOTE
For each SV locked, a PRN number item and a signal strength item
follow; qq indicates the number of SVs displayed in the message.
Field Significance
qq Number of SVs locked, number of SVs in message
pp SV PRN number, pp = 1 to 32
ss SV signal strength/signal-to-noise ratio, ss = 00 to 99
ttt 999 ends the message if no RTCM age is reported or age of differential corrections in seconds
if in RTCM mode
Example:
Query: $PASHQ,GSN,A<Enter> or
Set: $PASHS,,NME,GSN,A,ON<Enter>
Response: $GPGSN,03,03,060,23,039,16,021,999*7D<CR><LF>
Item Significance
$GPGSN Header
03 Number of SVs locked
03 PRN number of the first SV
060 Signal strength of the first SV
23 PRN number of the second SV
039 Signal strength of the second SV
16 PRN number of the third SV
021 Signal strength of the third SV
999 Termination when no RTCM information
7D Message checksum in hexadecimal
GSS (SVs Used) Message
$PASHS,NME,GSS,x,y
Enable/disable NMEA SVs-used response message on port x, where x is
either A, B, or C, and y is ON or OFF. This message is output regardless of
whether a position is computed.
Example: Enable GSS message on port A
$PASHS,NME,GSS,A,ON<Enter>
$PASHQ,GSS
The associated query command is $PASHQ,GSS,x<Enter>, where x is port
A, B, or C.
$GPGSS
The response message is in the form
$GPGSS,0,s,qq,ss,ss,ss,......,pp.p,*cc<CR><LF>
Field Significance
1 Always zero
2 Position solution, s
s = 2, altitude held fixed (2-D) solution
s = 3, altitude not held fixed (3-D) solution
3 Number of SVs used to compute position
4 First SV PRN number, ss = 1 to 32
5 Second SV PRN number, ss = 1 to 32
6 Third SV PRN number, ss = 1 to 32
7 PDOP position dilution of precision to nearest tenth; pp.p = 00.0 to 99.9
Example: Output GSS message on port B

Query: $PASHQ,GSS,B<Enter> or
Set: $PASHS,NME,GSS,B,ON<Enter>
Response: $GPGSS,0,2,04,03,23,16,31,02.8*5C<CR><LF>
Item Significance
$GPGSS Header
0 Always 0
2 Altitude held fixed in position solution
04 Number of SVs used in position solution
03 PRN number of the first satellite
23 PRN number of the second satellite
16 PRN number of the third satellite
31 PRN number of the fourth satellite
02.8 PDOP
5C Message checksum in hexadecimal
GSV (Satellites-In-View) Message

$PASHS,NME,GSV,x,y
Enable/disable satellites-in-view message to send out of serial port, where x
is port A, B or C, and y is ON or OFF.
Example: Output GSV message on port A
$PASHS,S,NME,GSV,A,ON<Enter>
$PASHQ,GSV,x
The associated query command is $PASHQ,GSV,x<Enter>, where x is port
A, B, or C.
$GPGSV
$GPGSV,d1,d2,d3,d4,d5,d6,d7,d8,d9,d10,d11,d12,d13,d14,d15,
d16,d17,d18,d19*CC<CR><LF> where:
Field Significance
d1 Total number of messages (1 to 3)
d2 Message number(1 to 3)
d3 Total number of satellites in view(1 to 12)
d4 Satellite PRN (1 to 32)
d5 Elevation (degrees from 0 to 90)
d6 Azimuth (degrees from 0 to 359)
d7 SNR (0 to 99 dB)
d8 - d11 Same as d4-d7 but for second satellite
d12 - d15 Same as d4-d7 but for third satellite
d16 - d19 Same as d4-d7 but for fourth satellite
Example:
Query: $PASHQ,GSV,c<Enter> or
Set:$PASHS,NME,GSV,c,ON<Enter>
Response:
$GPGSV,2,1,08,16,23,293,29,19,63,050,59,28,11,038,21,29,14,
145,16*78<CR><LF>
Field Significance
$GPGSV Header
2 total number of messages
1 message number
8 number of SVs in view
16 PRN of first satellite
23 elevation of first satellite
293 azimuth of first satellite
29 signal-to-noise of first satellite
19 PRN of second satellite
63 elevation of second satellite
050 azimuth of second satellite
59 signal-to-noise of second satellite
28 PRN of third satellite
11 elevation of third satellite
038 azimuth of third satellite
21 signal-to-noise of third satellite
29 PRN of fourth satellite
14 elevation of fourth satellite
145 azimuth of fourth satellite
16 signal-to-noise of fourth satellite
7 message checksum in hexadecimal
GXP (Position Horizontal) Message
$PASHS,NME,GXP,x,y
Enable/disable position horizontal message on port x, where x is either A,
B, or C, and y is ON or OFF. This message is not output unless position is
computed.
Example: Output GXP message on port C

$PASHS,NME,GXP,C,ON<Enter>
$PASHQ,GXP
The associated query command is $PASHQ,GXP,x<Enter> where x is
port A, B, or C. This message is not output unless position is computed.
$GPGXP
The response message is in the following form:
$GPGXP,hhmmss:ss,ddmm.mmmmm,s,dddmm.mmmmm,s*cc<CR><LF>
where
Field Significance
1 Current UTC time, hhmmss:ss,of position fix in hours, minutes and seconds
fraction of minutes
3 Latitude sector, s = N - North, s = S - South
fraction of minutes
5 Longitude sector, s = E - East, s = W - West
Example:
Query: $PASHQ,GXP,B<Enter> or
Set: $PASHS,NME,GXP,A,ON<Enter>
Response:
$GPGXP,183805.00,3722.36221,N,12159.82742,W*5C<CR><LF>
Item Significance
$GPGXP Header
3722.36221 Latitude
N North
Item Significance
W West
5C Message checksum in HEX
MSG (RTCM) Message

$PASHS,NME,MSG,x,y
Enable/disable message containing RTCM reference (base) station
message types 01, 03, 06, 09, and 16 on port x, where x is A, B, or C, and
y is ON or OFF.
NOTE
Unless the SCA-12/12S is sending or receiving differential
corrections, this command is ignored.
Example: Enable MSG on port A
$PASHS,NME,MSG,A,ON<Enter>
$PASHQ,MSG,x
The associated query command is $PASHQ,MSG,x<Enter>, where x is
port A, B, or C.
$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 set 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
Field Significance
1 $GPMSG = header
2 rr = RTCM type, 01 or 09
3 ssss = station identifier, 0000 to 1023
4 zzzz.z = Z count in seconds and tenths, 0000.0 to 3600.0
5 s = sequence number, 0 to 7
6 h = Station health, 0 to 7
7 ccc = total number of characters after the time item, 000 to 999
8 hhmmss:ss = current UTC time of position computation in hours, minutes and seconds
9 e = user differential range error (UDRE)
10 vv = satellite PRN number
11 spppp.pp = pseudo-range correction (PRC) in meters
12 sr.rrr = range rate correction (RRC) in meters/sec
13 iii = issue of data (IODE)
14 *cc = checksum in hexadecimal
NOTE
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<CR><LF>
Item Significance
$GPMSG Header
01 RTCM message
0000 Station ID
2220.0 Z count in seconds and tenths
1 Sequence number
0 Station health
127 Total number of characters of the time item
003702:00 Current time in hours, minutes, and seconds
2 UDRE for SV 12
12 Satellite PRN number
-0081.30 PRC for SV 12
+0.026 RRC for SV 12
235 IODE for SV 12
2 UDRE for SV 13
+0022.86 PRC for SV 13
106 IODE for SV 13
2 UDRE for SV 26
-0053.42 PRC for SV 26
-0.070 RRC for SV 26
155 IODE for SV 26
2 UDRE for SV 26
+0003.56 PRC for SV 02
120 IODE for SV 02
2 UDRE for SV 02
+0047.42 PRC for SV 27
-0.005 RRC for SV 27
145 IODE for SV 27
7A Message checksum in hexadecimal
The format for RTCM message type 3 is:

$GPMSG,rr,sss,zzz.z,s,h,ccc,hhmmss:ss,sxxxxxxx.xx,syyyyyyy.yy,
szzzzzzz.zz<CR><LF>
Field Significance
1 $GPMSG = header
2 rr = RTCM type, 01 or 09
2 sss = station identifier, 0000 to 1023
3 zzz.z = Z count in seconds and tenths, 0000.0 to 3600.0
5 h = station health, 0 to 7
7 hhmmss:ss = current GPS time of position computation in hours, minutes and seconds
8 sxxxxxxx.xx = metric x - distance from geocenter (x component of station)
9 syyyyyyy.yy = metric y - distance from geocenter (y component of station)
10 szzzzzzz.zz = metric z - distance from geocenter (z component of station)
11 *cc = checksum
Example 2:
Response:
$GPMSG,03,0000,1200.0,7,0,038,231958:00,-2691561.37,-4301271.
02,+3851650.89*6C<CR><LF> where
Item Significance
$GPMSG Header
03 RTCM type
0000 Station ID
7 Sequence number
0 Station health
038 Total number of characters after the time item
Item Significance
231958:00 Current time in hours, minutes and seconds
-2691561.37 Station X component
-4301271.02 Station Y component
+3851650.89 Station Z component
The format for RTCM message types 6 and 16 is shown below, except
that type 6 does not contain text:
$GPMSG,rr,sss,zzz,z,s,h,ccc,hhmmss:ss,text*cc<CR><LF>
where
Field Significance
1 $GPMSG = header
2 rr = RTCM type 6 or 16
2 sss = station identifier, 0000 to 1023
3 zzz.z = Z count in seconds and tenths, 0000.0 to 3600.0
5 h = station health, 0 to 7
7 hhmmss:ss = current GPS time of position computation in hours, minutes and seconds
Field Significance
8 text = text message, type 16 only
8 *cc checksum, type 6 only
9 *cc = checksum, type 16 only
Example 3:
$GPMSG,16,0000,1209.6,5,0,038,232008:00,THIS IS A
MESSAGE SENT FROM BASE*5C<CR><LF>
Item Significance
$GPMSG Header
16 RTCM type
0000 Station ID
5 Sequence number
0 Station health
038 Total number of characters after the time item
232008:00 Current time in hours, minutes and seconds
TEXT Message content
Set NMEA Send Interval

$PASHS,NME,PER,x
Set the send interval of the NMEA response messages in seconds, where x
is a any half-second or full-second value between 0.5 and 999.5 (default
once per half-second if the 2HZ option is installed, once per second if not
installed).
Example:
$PASHS,NME,PER,10.0<Enter>
POS (Position) Message

$PASHS,NME,POS,x,y
Enable/disable NMEA position response message on port x where x is A,
B, or C, and y is ON or OFF.
Example: Enable position message on port B
$PASHS,NME,POS,B,ON<Enter>
$PASHQ,POS,x
The associated query command is $PASHQ,POS,x<Enter> where x is
port A, B, or C.
$PASHR,POS
The response is a message containing information on the most recently
computed position, output at the rate defined by the $PASHS,NME,PER
set command. The SCA-12/12S always returns the position message,
whether it is currently computing a position or not. This response message
is in the form:
$PASHR,POS,n,qq,hhmmss:ss,ddmm.mmmmm,s,dddmm.mmmmm,
s,saaaaa.aa,seeeee,ttt,ggg,svvv,pp,hh,vv,tt,vvvv*cc<CR><LF>
Field Significance
1 n = raw/differential position:
0 = raw, position is not differentially corrected
1 = position is differentially corrected with RTCM format
2 qq = number of SVs used in position computation
3 hhmmss:ss = current UTC time, hhmmss, of position computation in hours,
minutes and seconds
4 ddmm.mmmmm = latitude component of position, ddmm.mmmm, in degrees,
minutes and fraction of minutes
5 s = latitude sector: N = North, S = South
6 dddmm.mmmmm = longitude component of position in degrees, minutes and
fraction of minutes
7 s = longitude sector: E = East, W = West
8 saaaaa.aa = sensor-computed altitude
s = "+" or "-"
aaaaa.aa = altitude 00000 to 30000 meters above WGS-84 reference ellipsoid
For 2-D position computation this item contains the altitude held fixed.
9 Reserved
10 True track/true course over ground in degrees, ttt = 000 to 359 degrees
11 Speed over ground, ggg
ggg = 000 to 999 knots
12 Vertical velocity, Svvv
s = "+" or "-"
vvv = 000 to 999 decimeters per second
13 PDOP - position dilution of precision, pp = 00 to 99
14 HDOP - horizontal dilution of precision, hh = 00 to 99
15 VDOP - vertical dilution of precision, vv = 00 to 99
16 TDOP - time dilution of precision, tt = 00 to 99
17 SCA-12/12S firmware version ID in ASC vvvv.
Example 1:
Query: $PASHQ,POS,A<Enter> or
Set: $PASHS,NME,POS,B,ON<Enter>
Response:
$PASHR,POS,0,03,183805:00,3722.36221,N,12159.82742,W,
+00016.06,,179,021,+039,06,04,03,01,1D00*45
<CR><LF>
Item Significance
$PASHR,POS Header
0 Position is not differentially corrected
03 Number of SVs used in position computation
Item Significance
183805.00 Time of position computation

3722.36221 Latitude
N North
W West
+00016.06 Altitude in meters
empty field Reserved
179 Course over ground in degrees (True)
021 Speed over ground in knots
+039 Vertical velocity in meters per second
06 PDOP
04 HDOP
03 VDOP
01 TDOP
1D00 Version number
Example 2:
If no position is computed, the SCA-12/12S will return:
Response: $PASHR,POS,0,,,,,,,,,,,,,,,,,1D00*1A<CR><LF>
RRE (Satellite Residual and Position Error) Message

$PASHS,NME,RRE,x,y
Enable/disable satellite residual and position error message to port x,
where x is A, B, or C and y is ON or OFF. This message is not output
unless a position is computed.
Example: Enable RRE message on port A

$PASHS,NME,RRE,A,ON<Enter>
$PASHQ,RRE,x
The associated query command is $PASHQ,RRE,x<Enter>, where x is
port A, B, or C.
Example:
$PASHQ,RRE,C<Enter>
$GPRRE
$GPRRE,qq,ss,sxxx.x,...hhhh.h,vvvv.v*cc<CR><LF>
There will be a range residual (xxx.x) computed for each satellite (ss)
used in position computation. Residuals and position errors will not be
computed unless at least 5 satellites are used in position computation.
Field Significance
1 qq = number of satellites used to compute position
2 ss = PRN number for each of the satellites used in position
computation
3 s = + or - and xxx.x = range residuals magnitude in meters for
each satellite used in position computation
Last 2 hhhh.h = horizontal RMS position error in meters
fields vvvv.v = vertical RMS position error in meters

Example:
Query: $PASHQ,RRE,A<Enter> or
Set: $PASHS,NME,RRE,A,ON<Enter>
Response:
$GPRRE,05,18,+000.2,29,+000.2,22,-000.1,19,-000.1,28,
+000.5,0002.0,0001.3*76<CR><LF>
Item Significance
$GPRRE Header
05 Number of SVs used to compute position
18 PRN of first SV
+000.2 Range residual for first SV in meters
29 PRN of second SV
+000.2 Range residual for second SV in meters
22 PRN of third SV
-000.1 Range residual for third SV in meters
19 PRN of fourth SV
-000.1 Range residual for fourth SV in meters
28 PRN of fifth SV
+000.5 Range residual for fifth SV in meters
0002.0 Horizontal position error in meters
0001.3 Vertical position error in meters
SAT (Satellite Status) Message

$PASHS,NME,SAT,x,y
Enable/disable satellite status message on port x, where x is A, B, or C,
and y is ON or OFF.
Example: Enable SAT message on port B
$PASHS,NME,SAT,B,ON<Enter>
$PASHQ,SAT,x
The associated query command is $PASHQ,SAT,x<Enter>, where x is
port A, B, or C.
Example:

$PASHQ,SAT,B<Enter>
$PASHR,SAT
The response is a satellite status response message in the form:
$PASHR,SAT,qq,pp,aaa,ee,ss,h*cc<CR><LF>
NOTE
The SV-locked item is followed by as many groups of the
following items as there are SVs currently being tracked: PRN
number, azimuth, elevation, signal strength, and whether SV is
used in position fix solution; qq indicates the total number of
SVs in the message.
Field Significance
1 qq = number of SVS locked, number of SVs in message, range 0-12
2 pp = SV PRN number, range 1 to 32
3 aaa = SV azimuth angle, 000 to 359 degrees
4 ee = SV elevation angle, 00 to 90 degrees
5 ss = SV signal strength/signal-to-noise ratio, 00 to 99
6 h = SV used/not used if position computation
U = SV used in position computation
- = SV not used in position computation
Example 1:
Query: $PASHQ,SAT,B<Enter> or
Set: $PASHS,NME,SAT,B,ON<Enter>
Response:
$PASHR,SAT,03,03,103,56,60,U,23,225,61,39,U,16,045,02,21,
U*6E<CR><LF>
Item Significance
$PASHR,SAT Header
03 Number of SVs locked
03 PRN number of the first SV
103 Azimuth of the first SV in degrees
56 Elevation of the first SV in degrees
60 Signal strength of the first SV
U SV used in position computation
23 PRN number of the second SV

225 Azimuth of the second SV in degrees

61 Elevation of the second SV in degrees
39 Signal strength of the second SV
16 PRN number of the third SV
045 Azimuth of the third SV in degrees
02 Elevation of the third SV in degrees
21 Signal strength of the third SV
6E Message checksum in hexadecimal
TTT (Event Marker) Message

$PASHS,NME,TTT,x,y
Enable/disable event marker message on port x, where x is A, B, or C, and
y is ON or OFF. This message is not output unless an event pulse is being
input through the serial port and the event marker option (E) is available
in the receiver.
Example: Enable TTT message on port A
$PASHS,NME,TTT,A,ON<Enter>
There is no query command for TTT.
$PASHR,TTT
$PASHR,TTT,x,hh:mm:ss.sssssss*cc<CR><LF>
Item Significance
1 x = day of GPS week, 1 to 7, where Sunday = 1
2 hh:mm:ss.sssssss = time in hours, minutes, seconds
Example: Enable TTT event marker on port A

Set: $PASHS,NME,TTT,A,ON<Enter>
Response:
$PASHR,TTT,6,20:41:02.0000000*OD

Field Significance
$PASHR,TTT Header
6 Day of week (Friday)
20:41:02.0000000 Time
OD Message checksum in hexadecimal
VTG (Velocity/Course) Message

$PASHS,NME,VTG,x,y
Enable/disable velocity/course message on port x, where x is A, B, or C
and y is ON or OFF. This message is not output unless position is
computed.
Example: Enable VTG message or port B
$PASHS,NME,VTG,B,ON<Enter>
$PASHQ,VTG,x
The associated query command is $PASHQ,VTG,x<Enter> where x is
port A, B, or C. This message is not output unless position is computed.
$GPVTG
$GPVTG,ttt,c,ttt,c,ggg.gg,u,ggg.gg,u*cc<CR><LF>
Field Significance
1 True track/true course over ground, ttt = 000 to 359 degrees
2 True course over ground marker, c = always T (true course)
3 Magnetic track/magnetic course over ground, ttt = 000 to 359 degrees (output only if magnetic variation
option (M) is installed in receiver)
4 Magnetic course over ground marker, c = always M (magnetic course)
5 Speed over ground, ggg.gg = 000 to 999.99 knots
6 Speed over ground units, u = N (nautical miles per hour)
7 Speed over ground, ggg.gg = 000 to 999.99 kilometers per hour
8 Speed over ground units, u = K (kilometers per hour)
Example:
Query: $PASHQ,VTG,B<Enter> or
Set: $PASHS,NME,VTG,A,ON<Enter>

Response:
$GPVTG,179,T,193,M,000.11,N,000.20,K*3E
Item Significance
$GPVTG Header
179 Course over ground in degrees
T True course over ground marker
193 Magnetic course over ground
M Magnetic course over ground marker
000.11 Speed over ground in knots
N Knots
000.20 Speed over ground in kilometers/hour
K Kilometers/hour
3E Message checksum in hexadecimal

RTCM RESPONSE MESSAGE COMMANDS

RTCM response message commands let you control and monitor
operation in differential mode. Table 4 lists the RTCM commands.
Table 4. RTCM Commands
Command Function
$PASHS,RTC,AUT Turns auto differential mode on or off
$PASHS,RTC,BAS Sets receiver to operate as differential base station
$PASHS,RTC,MAX Sets maximum age of RTCM differential corrections
$PASHS,RTC,MSG Defines RTCM message, base to remote
$PASHS,RTC,OFF Disables differential mode
$PASHS,RTC,QAF Sets quality threshold
$PASHS,RTC,REM Sets receiver to operate as differential remote station
$PASHS,RTC,SEQ Checks sequence number of received messages
$PASHS,RTC,SPD Sets baud rate of base station
$PASHS,RTC,STI Sets station identification
$PASHS,RTC,STH Sets health of reference station
$PASHS,RTC,TYP Enables type of message
$PASHQ,RTC Request differential mode parameters and status
Turn Auto Differential Mode On/Off

$PASHS,RTC,AUT,x
Turns auto differential mode on or off where x is Y (on) or N (off). When
in auto-diff mode the receiver generates raw positions automatically if
differential corrections are older than the maximum age, or are not
available. Used only in REMOTE mode. .
Example: Turn auto differential mode on
$PASHS,RTC,AUT,Y<Enter>
Set Receiver as Differential Base Station

$PASHS,RTC,BAS,x
Set the SCA-12/12S to operate as a differential base station using RTCM
format, where x is the differential port and can be set to A, B, or C.
Example: Set to differential base mode using port B
$PASHS,RTC,BAS,B<Enter>
Set Maximum Age of RTCM Differential Corrections

$PASHS,RTC,MAX,x
Set the maximum age in seconds of an RTCM differential correction
above which it will not be used, where x is any number between 1 and
1199. Default is 60. Used only in REMOTE mode.
Define RTCM Message

$PASHS,RTC,MSG,x
Define RTCM message up to 90 characters long that will be sent from the
base to the remote. Used only if message type 16 is enabled.
Example: Define RTCM message "This is a test message"
$PASHS,RTC,MSG,This is a test message<Enter>
Disable Differential Mode

$PASHS,RTC,OFF
Disables differential mode.
Example:
$PASHS,RTC,OFF<Enter>
Set Quality Threshold

$PASHS,RTC,QAF,x
Sets the number of received differential correction frames in RTCM
differential mode above which the quality factor is reset to 100%, where x
is any number between 0 and 999. This QAF number is used to compute
the QA value where:

QA = good messages/QAF
The QA parameter allows you to evaluate the communication quality
between the base and remote stations. The QA value can be seen using
the $PASHQ,RTC query command. Default is 100. Used only in
REMOTE mode.
Example: Set quality factor to 200
$PASHS,RTC,QAF,200<Enter>
Set Receiver as Differential Remote

$PASHS,RTC,REM,x
Set the SCA-12/12S to operate as a differential remote station using
RTCM format, where x is differential port A, B, or C.
Example: Set receiver as differential remote using port C
$PASHS,RTC,REM,C<Enter>
Check Sequence Number

$PASHS,RTC,SEQ,x<Enter>
Checks sequence number of received messages and, if sequential, accept
corrections; if not, don't use correction, where x is Y (check) or N (do not
check). Default is N. Used only in REMOTE mode. Valid only at
beginning of differential operation. After two sequential RTCM
corrections have been received, differential operation begins.
Example: Check sequence number
$PASHS,RTC,SEQ,Y<Enter>
Set RTCM Bit Rate
$PASHS,RTC,SPD,x<Enter>
Set the number of bits per second that are being generated to the serial
port of the base station, where x is the code for the output rate in bits per
second. The available speeds are 25, 50, 100, 110, 150, 200, 250, 300,
and 1500. Default is 300 bits per second. Used only in BASE mode.
Code 0 1 2 3 4 5 6 7 8

Rate 25 50 100 110 150 200 250 300 1500
Example: Set bit rate to 110 bits/sec

$PASHS,RTC,SPD,3<Enter>
Set Station Identification
$PASHS,RTC,STI,xxxx<Enter>
Set user station identification (user STID) to any value between 0000 and
1023. In RTCM differential mode, corrections will not be applied if the
station ID between base and rover are different, unless rover is set to zero.
If user STID of rover station is set to zero, the SCA-12/12S will attempt to
use the differential corrections it receives, regardless of STID of base
station. Default is 0000.
Example: Set site identification to 0001

$PASHS,RTC,STI,0001<Enter>
Set Health of Reference Station
$PASHS,RTC,STH,x<Enter>
Set the health of the reference station, where x is any value between 0 and
7. Used only in BASE mode. Default is 0. The codes for the station
health are defined as follows by RTCM:
Code Health Indication

7 Reference station not working.
6 Reference station transmission not monitored.
5 Specified by service provider.

Example: Set health to "Reference station not working"

$PASHS,RTC,STH,7<Enter>
Enable Type of Message
$PASHS,RTC,TYP,x,y
Enables the type of message to be sent by the base station and the period
at which it will be sent, where x is the type and y is the period. Used only
in BASE mode. The following table indicates the type of messages
available and the period range setting.
Type Range
1 0-99 seconds, where 0 is disabled and 99 is generated
continuously
3 0-99 minutes, where 0 is disabled and 99 is generated
continuously
6 1 = ON, 0 = OFF Default = OFF
9 same as type 1
16 same as type 3
Note that although all messages can be enabled simultaneously, only

one can be set to 99. Default is type 6 OFF, type 1 set to 99, and all
others set to 00 (disabled).
Example: Enable type 1, sent out every second

$PASHS,RTC,TYP,1,1<Enter>
Request Differential Mode Parameters and Status
$PASHQ,RTC<Enter>
Request differential mode parameters. The response message for the
default values of the query command $PASHQ,RTC (differential
parameters) is:

STATUS:
SYNC: TYPE:00 STID:0000 STHE:0
AGE:+000 QA:100.0% OFFSET:00
SETUP:
MODE:OFF PORT:A AUT:N
SPD:0300 STI:0000 STH:0
MAX:0060 QAF:100 SEQ:N
TYP:1 2 3 6 9 16
FRQ:99 00 00 ON 00 00
MSG:
Where:
STATUS Displays the status of the following parameters when

differential mode is enabled.
SYNC: Indicates with an * that synchronization

between base and remote has been
established. Valid only for REMOTE mode.
TYPE: Indicates type of message being sent (base) or

received (received).
STID: Displays the station ID set in the base station

or received from the base station.
STHE: Displays the station health set in the base

station or received from the base station.
AGE: In BASE mode, displays the elapsed time in

seconds between the beginning of the
transmission of Type 1 or 9 messages. In
REMOTE mode, displays the age of the
received messages in seconds.
QA: Displays the communication quality factor
between base and remote. Defined as
number of good measurements x 100

---------------------------------------

total number of messages
Valid for REMOTE mode only.
OFFSET: Displays the number of bits from the

beginning of the RTCM byte (in case of a bit
slippage).
SETUP: Displays the receiver differential parameter settings:
MODE:OFF Displays differential mode either base (BAS),

remote (REM) , or disabled (OFF). Default is
OFF.
PORT:A Displays the port used to send or receive

RTCM corrections. Default is A.
AUT:N Displays Auto Differential Mode. Default is

N. Used only in REMOTE mode.
SPD:0050 The number of bits per second sent to the

differential serial port. Default is 300. Used
only in BASE mode.
STI:0000 The station ID supplied by the user. Default

is 0000.
STH:0 The reference station health. Set by user.

Default is 0. Used only in BASE mode.
MAX:0060 The maximum age, in seconds, allowed for a
message to be used to compute a
differentially corrected position. Default is
60. Used only in REMOTE mode.
QAF:100 The criteria to be applied when evaluating the
quality of communication between base and
remote. Used in the computation of QA.
Default is 100. Used only in REMOTE
mode.

SEQ:N Indicates if there is a check for sequential

received message number for the message to
be accepted. Default is N. Used only in
REMOTE mode.
TYP: Indicates the RTCM message types the
receiver can generate. Messages available
are 1, 3, 6, 9, and 16. Message 2 is not
generated. Used only in BASE mode.
FRQ: Enables message type 6, and indicates the
output period for message types 1, 2, 3, 9, and
16. A 0 indicates message disabled, a 99
indicates continuous output, and any other
number specifies the number of seconds
between transmissions for message types 1
and 9, and the number of minutes between
transmissions for all other messages. Default
for message type 1 is 99, for message type 6
is OFF, and for all other messages is 00.
MSG: For BASE mode, it contains the text message, up to 90
characters, that is sent from the base to the remote when
message type 16 is enabled. In REMOTE mode, it displays
the text message, up to 90 characters, that is received from
the base.
If changed parameter values are saved by the $PASHS,SAV,Y set
command, after the next power-up, the response to the $PASHQ,RTC
query command will display the saved quantities instead of the defaults.
$PASHS,RST always reinstates the defaults.

RECOMMENDED READING
Navstar GPS Space Segment/Navigation User Interfaces; ICD-GPS-200,
Revision B; Rockwell International, Satellite Systems Division, 2600
Westminster Blvd, PO Box 3644, Seal Beach CA 90740-7644
NMEA Standard 0183: Standard for Interfacing Marine Electronic Navigational
Devices; National Marine Electronics Association
RTCM - Recommendations of Special Committee 104, differential
NAVSTAR/GPS service, version 2.0, Radio Technical Commission for
Maritime Service, PO Box 19087, Washington, DC 20036

CUSTOMER SUPPORT
If you have any problems or need further help, the Ashtech customer support
team can be reached by telephone. Before you call, please refer to the
documentation that came with your system (both receiver and software
manuals). Many common problems are identified within the documentation
and suggestions are offered for solving them.
C Check cables and power supplies. Many hardware problems are related
to these simple problems.
C If the problem seems to be with your computer, reboot it to clear the
system's RAM memory.
C If you are experiencing receiver problems, reset the receiver as
documented in the set commands section of this manual. Note that the
reset command clears receiver memory and resets operating parameters
to factory default values.
If none of these suggestions solves the problem, contact the Ashtech
customer support team. Have the following information at hand:

Information Category Your actual numbers

Receiver model
Receiver serial #
Software version #
Software serial #
Firmware version #*
Options*
A clear, concise
description of the problem.
*The firmware version # and options can be obtained using the

$PASHQ,RID (receiver identification) command.
Then contact Ashtech customer support at the Sunnyvale facility at the

following numbers:
800 Hot Line: 1-800-229-2400
Local Voice Line: (408) 524-1600
FAX Line: (408) 524-1500

COMMON GPS ACRONYMS

MMDD Date format - Month, Date
ALT Altitude MSG RTCM Message
ALM Almanac MSL Mean Sea Level
AFT After N
AGE Age of Data Geodetic Undulation
ANT Antenna NAD North American Datum
ASCII American Standard Code for NMEA National Marine Electronics Assoc.
Information Interchange NV
Non-Volatile
AZM Azimuth PDOP Position Dilution of Precision
BEF Before PE Precise Ephemeris
BIN Binary Index (file) POS Position
BM Bench Mark RAM Random-Access Memory
BP RF
Barometric Pressure Radio Frequency
C/A Coarse/Acquisition RFI Radio Frequency Interference
RH
Clear/Access Relative Humidity
COG Course Over Ground RMS Root Mean Square
CTD Course To Destination RTCM Radio Technical Commission
DGPS Differential GPS for Maritime Services
DIFF Differential
DMS Degrees, Minutes, Seconds P.O. Box 19087
DOP Dilution Of Precision
DOS Disk Operating System Washington DC 20036-9087
DTD Distance To Destination SE
EDOP Elevation Dilution Of Precision Site Editor
ELEV Elevation
ELIP Ellipsoid Standard Error
ELLIP Ellipsoid SESS Session
ELP Ellipsoid SOG Speed Over Ground
ELV Elevation SS
EMI Electromagnetic Interference Static Survey
ENU East, North, Up SV
EPHM Ephemeris Satellite Visibility
FCC Federal Communications Commission
FREQ Frequency Space Vehicle
GH T-DRY Temperature - Dry (Celsius)
Geoid Height T-WET Temperature - Wet (Celsius)
GLL Latitude/Longitude for Position TDOP Time Dilution Of Precision
GMST Greenwich Mean Sidereal Time UT
GMT Greenwich Mean Time Universal Time
GPPS GPS Post-Processing Software UTC Universal Time Coordinated
GPS Global Positioning System VDC Volts Direct Current
GPSIC GPS Information Center VDOP Vertical Dilution of Precision
WGS World Geodetic System
7323 Telegraph Road WGS-84 Reference Ellipsoid
WP
Alexandria VA 22310-3998 Waypoint
703-313-5900
HDOP Horizontal Dilution Of Position
HEL Health
HI
Height of Instrument
HTDOP Horizontal/Time Dilution Of Precision
ID
Identification, Integrated Doppler
LAT Latitude
LCD Liquid Crystal Display
LNA Low-Noise Amplifier
LNG Longitude
LON Longitude

THE US COAST GUARD GPS INFORMATION CENTER (GPSIC)

7323 Telegraph Road, Alexandria VA 22310-3998
Tel 703-313-5900 Fax 703-313-5920
OVERVIEW - Since February 1989, the US Coast Guard has developed the requirements and
plans for the Civil GPS Service (CGS) and has begun to implement these services. The four
CGS functions recognized by the Coast Guard are listed below:
#Provide a GPS Operational Advisory Broadcast (OAB)
#Process applications for the civil use of GPS PPS (Precise Positioning Service)
#Provide precise GPS satellite ephemeris data
#Provide a government interface for civil GPS users
Two agencies perform these functions:
#The GPS Information Center - provides the OAB and precise ephemerides
#The PPS Program Office - processes civil applications to PPS access
The primary source of information for the OAB is the GPS control center at Falcon Air Force
Base in Colorado Springs, Colorado. The OAB originates at GPSIC in Alexandria VA and is
broadcast during normal working hours, 8AM to 4PM EST, Monday through Friday, except
Federal holidays. An answering machine records messages after hours, and calls are returned
the next working day. OAB information is updated only during normal working hours, but
advisory services are accessible 24 hours, 7 days. OAB presents the following information:
#Status - Current constellation health and availability
#Outages - Recent and future satellite down time
#Almanac - Current projected orbit data for GPS coverage and visibility predictions
#Other - General GPS information and some user documentation
NOTE: Satellite visibility and coverage predictions are not offered by GPSIC. These services
are available from commercial sources or commercially available software.
GPSIC VOICE RECORDING - This is a 90-second tape message which contains current
satellite status and outage information. The recording is available 24 hours 7 days and can be
heard by dialing 703-313-5907. The recording is updated at least daily during normal GPSIC
working hours.
WWV/WWVH VOICE BROADCASTS - These short-wave voice broadcasts contain current
GPS status and outage information in a 45-second message. The message is broadcast at
minutes 14 and 15 past each hour on WWV and at minutes 43 and 44 past the hour on WWVH.
The information is updated at least daily during normal GPSIC working hours. WWV and
WWVH operate at 5.0, 10.0, and 15.0 MHz.
US COAST GUARD BROADCAST TO MARINERS - GPS status, future outages, and safety
advisories are transmitted on the VHF marine radio band. The information is updated weekly
and whenever satellite outages occur.
GPSIC COMPUTER BULLETIN BOARD SERVICE (BBS) - GPSIC operates BBS that
lists status, outage, almanac, and other GPS information. The BBS is available to any user free
of charge, except for normal telephone fees. To access the BBS, the user will need a computer,
a modem, and communication software. Users obtain a User ID password on line during the
first session. The following information will be found useful in connecting to the GPSIC BBS.

Call 703-866-3890* for connections at 300 bps/Bell103, 1200 bps/Bell 212A, 2400 bps/CCITT
V.22bis, no MNP capability (common US specs, Supramodem 2400).
Call 703-866-3893* for connections at 1200 bps/CCITT V.22bis, 1200 bps/CCITT V.22, 1200
bps/Bell 212A, 2400 bps/CCITT V.22bis, 4800 bps/CCITT V.32, 9600 bps/CCITT V.32 and
MNP capabilities level 2,3,4,5, none (DigiCom Systems 9624).
Communications parameters at both numbers:
Asynchronous, no parity, 8 data bits, full duplex, 1 stop bit (10-bit word)
* FTS subscribers: 398-3890/3894 Autovon access is not available.
The BBS ignores the 8th bit of data, restricting the character set to the lower 128 ASCII values.
The BBS also checks for ANSI graphics capability, and employs some ANSI graphics if the
user's equipment can display them. All users get the same information, but non-ANSI users
will not see color images.
DEFENSE MAPPING AGENCY ANMS - The Defense Mapping Agency's Navigation
Information Network, Automated Notice to Mariners System is a computer database that
contains GPS status, outage, almanac, and other information. GPSIC updates the information
at least daily. The information is contained in query number 85.
Users must register with DMA. To obtain a user ID and information booklet, contact:
DMA Hydrographic/Topographic Center
Attention: MCN/NAVINFONET
Washington DC 20315-0030 301-227-3296
DMA BROADCAST WARNINGS - GPSIC provides GPS status, future outages, and safety
advisories through the DMA HYDROLANT, HYDROPAC, and NAVAREA warning systems.
These warnings are updated weekly and whenever satellite outages occur.
DMA WEEKLY NOTICE TO MARINERS - DMA publishes weekly navigation warnings
and notices to mariners in a weekly publication "Notices to Mariners." This publication
automatically includes active GPS status and outage information generated by both broadcast
and NAVAREA warnings. Distributed by:
Director, DMA
Combat Support Center
Attention: PMSS
Washington DC 20315-0010
NAVTEX TEXT BROADCAST - The Coast Guard Local Notice to Mariners and DMA
Broadcast Warnings also include text broadcast that contains the same information as the voice
broadcasts. NAVTEX data is broadcast in English at 518 KHz from 16 transmitters worldwide.
GPS status and outage information is available on NAVTEX.

REFERENCE DOCUMENTS
Two excellent reference books on GPS theory are:
Wells: Guide to GPS Positioning ISBN 0-920-114-73-3
Available from Canadian GPS Associates
Box 5378, Postal Station F Ottawa, Ontario Canada K2C 3J1
King, Masters, Rizos, Stolz, Collins: Surveying with GPS ISBN 0-85839-042-6
Available from School of Surveying, University of New South Wales
P.O. Box 1 Kensington, NSW, 2033, Australia
Heavy mathematical treatment:
Leick: GPS Satellite Surveying ISBN 0-471-81990-5
Wiley Interscience 605 3rd Avenue New York NY 10158-0012
Excellent overview of geodesy:
Smith: Basic Geodesy - An Introduction to the History and Concepts
of Modern Geodesy without Mathematics ISBN 0-910845-33-6
Landmark Enterprises, 10324 Newton Way, Rancho Cordova CA 95670
SOURCES OF GPS INFORMATION
National Geodetic Information Center, NOAA
1 1 4 0 0 R o c k v i l l e P i k e
Rockville MD 20852 Tel 301-443-8631
Institute of Navigation
1 6 2 6 1 6 t h S t . N W
Washington DC 20036
Scripps Orbit and Permanent Array Center (SOPAC)
High-Precision GPS BBS Service
Subscription $7500/year and $3000/year
Shelley Marquez, SOPAC Coordinator
IGPP-UCSD
9500 Gilman Drive La Jolla CA 92093-0225
Tel 619-534-0229 Fax 619-534-8090
International GPS Service for Geodynamics (IGS)
Jet Propulsion Laboratory MS 238-540
Pasadena CA 91109
Tel 818-393-6686
Fax 818-354-8330 or -5072 Internet [email protected].
ASHTECH BULLETIN BOARD
GENERAL
If you have a modem and communications software in your computer, you
can access information from Ashtech's computer bulletin board system

(BBS). Two data lines are available 24 hours a day, 7 days a week, except for
short periods when the system is off-line for maintenance. The Ashtech BBS
uses the TBBS BBS software and provides several important services. You
can download a current almanac, get the status of the GPS satellites, get
NANUS (Notices Advisory to Navstar Users), and look at solar and
geomagnetic data from SESC (Space Environment Services Center) in
Boulder, Colorado. On occasion, the BBS has been used to carry software
updates and document files.
The first time you call, you will be able to log on and browse for up to 30
minutes, but you will not be able to download. During this initial logon, you
will be asked for identifying information and a password; anonymous callers
will not be given access to the system. Remember exactly how you entered
your name and how you spelled your password; write them on paper, they
will be your entry into the system in the future.
When you have logged on and registered, the SYSOP will verify your status
as a customer, and establish your security code commensurate with the
hardware and software you are using.
The BBS phone numbers are:
Line 1 408-524-1527 2400 to 28800 baud
Line 2 Automatic rollover 2400 to 14400 baud
if line 1 is busy
Parameters are:
N,8,1
(No parity, 8 bits, 1 stop bit, full duplex)
LOGON PROCEDURE
1. Set the communications parameters:
No parity, 8 data bits, 1 stop bit, full duplex
2. Set a baud rate between 1200 and 28,800.
PEP users may need to set additional modem registers for
protocol support. Use the commands s50 = 255 and s111 =
20, where 20 is X/Y modem.
3. Dial the Ashtech BBS number 408-524-1527 using your modem software.
Answer the logon questions.

4. Log off and give the system operator an opportunity to establish your
account. This is generally done as soon as possible, so it is reasonable to try
to log on the next business day.
To download, logon and follow the instructions on the menu.
If you have a Telebit© modem, Ashtech can support a communications rate
of 19200 baud. For slower speeds, it takes a while to negotiate the baud rate.
Make sure that you have plenty of time in the "Wait for Carrier Detect"
parameters of your software and your modem. Ashtech recommends 60
seconds for the software and 90 seconds for the modem. Set the S7
register in the modem using the command s7 = 90.
MULTI-LINE OPERATION
Regardless of which line you use, if that line is busy, you will automatically
be rolled over to the other line if it is not in use. This may mean that callers
on Line 1 at 19200 baud may not be able to connect at maximum baud rate
if Line 1 is busy. This is normal operation.
PROTOCOLS SUPPORTED
XMODEM Widely supported, uses 128-byte blocks. Good for
moderately noisy lines. May cause file integrity
problems by rounding.
XMODEM-1k Uses 1024-byte blocks. Supposedly better for 2400
baud+. May cause file integrity problems by rounding.
YMODEM Also known as YMODEM Batch, passes filename and
size, eliminating rounding problems. Capable of
multiple file transfer (batch).
YMODEM-G Fast protocol for use only with error-free data
links. Not recommended.
SEAlink Passes filename and size, eliminating rounding
problems. Capable of file transfer (batch). Good for
noisy line conditions and links where delays occur
(satellite-based long distance, or packet-switched
networks).
KERMIT Slow, but works with almost any transmission
medium.
SuperKERMIT Same as KERMIT, but faster. Good for noisy line
conditions and where delays occur (satellite-based long
distance, or packet-switched networks).

ZMODEM Newer protocol that supports batch and exact file size.
Good for noisy conditions. Includes all ZMODEM-
90™ extensions.
ASCII Only for users with no other protocols available. No
error checking, not recommended.
The preferred protocols are ZMODEM, SEAlink, YMODEM.
DOWNLOADING FILES
1. After a successful logon, you will get the MAIN MENU.
+))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))),
* Ashtech Customer Support *
* Main Menu Line 0 *
* *
* <R>egister with System Operator *
* ulletins *
* <F>ile Sections *
* <A>lter User Parameters *
* <D>isplay User Settings *
* assword Change *
* <C>hat with System Operator *
* *
* <O> Top Menu <-> Previous Menu *
* <G>oodbye <L>ength of call *
.)))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))-
2. From the MAIN menu, select F for File Sections. This will bring up the
FILE SECTIONS menu.
+))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))),
* File Sections Line 0 *
* *
* <C>ustomer Download *
* <S>oftware Download *
* <F>irmware Download *
* <D>ealer Download *
* pload a file *
* <E>mployee Download *
* <C>hat with System Operator *
* *
* <O> Top Menu <-> Previous Menu *
.)))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))-

3. From the FILE SECTIONS menu, select S for Software Download. This
will bring up the SOFTWARE DOWNLOAD MENU.
+))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))),
* *
* Software Download Menu Line 0 *
* <A>lmanac *
* <M>ission Planning 3.0.00 *
* <1>G.P.P.S 5.1.00 *
* <2>G.P.P.S. 5.2.00 *
* <F>illnet 3.2.00 *
* <R> PRISM II (S/W Key Required) *
* <T>ML (Terramodel Macro Language) *
* <3> Plus III Download Area *
* <O> Remote Monitoring S/W v. 5.1.00 *
* <D>imension *
* serware *
* *
* <O> Remote Monitoring S/W v. <-> Previous Menu *
.)))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))-
NOTE
You may not see all the entries shown above.
The entries you see will depend upon your
level of access (security code), as assigned by
the SYSOP.
4. From the SOFTWARE DOWNLOAD menu, select the item you want to
download. This will bring up a file library showing you a list of files
available for download, sometimes with a description of the file's purpose,
date, and time of the file, as well as its size in bytes. For example, to
download the current almanac, select <A> for Almanac. The BBS will
present the ALMANAC menu.
+)))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))),
* Type P to Pause, S to Stop listing *
* *
* ALM95.003 2240 *
* *
* <D>ownload, rotocol, <E>xamine, <New>, <L>ist, or <H>elp *
* Selection or <CR> to exit: *
.))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))-
In the second line of the menu, "ALM95.003" is the almanac filename, "95"
indicates the year, "003" the day, and "2240" the file size in bytes.

5. Select D for download, and the BBS will ask you for the filename you
want to assign to the almanac. This will be the name of the file when it is
loaded into your system.
6. Type the desired filename and press <ENTER>.
7. The BBS will present the protocol menu.
+))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))),
* Select from the following transfer protocols: *
* *
* T - TYPE file to your screen *
* C - ASCII with DC2/DC4 Capture *
* A - ASCII only no Control Codes *
* X - XMODEM *
* O - XMODEM-1K *
* Y - YMODEM (Batch) *
* G - YMODEM-g (Batch) *
* S - SEAlink *
* K - KERMIT *
* W - SuperKERMITY (Sliding Windows) *
* Z - ZMODEM-90 (Tm) *
* *
* Choose one (Q to Quit): *
.)))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))-
8. Select the protocol you want to use, and press <ENTER>. From this point,
the procedure depends upon your setup. Perform the procedures required by
your setup, and the BBS will download to the selected file to your computer.
9. To log off, type Q and press ENTER.

Ionosphere Information
For latest ionosphere information, use the Space Environment Services
Center BBS:
303-497-5000 2400, N, 8, 1 F

BIBLIOGRAPHY
INTRODUCTION TO GPS
Wells, David: Guide to GPS Positioning, 1987, ISBN 0-920-114-73-3
Available from Canadian GPS Associates
Box 5378, Postal Station F, Ottawa, Ontario Canada K2C 3J1
The Institute of Navigation, Global Positioning System, Papers published in
NAVIGATION, vol. I, II, III. 1980, 1984, 1986.
GPS CARRIER PHASE POSITIONING
Remondi, Benjamin W., Using the Global Positioning System (GPS) Phase
Observable for Relative Geodesy: Modeling, Processing, and Results, Ph.D.
Thesis, The University of Texas at Austin, 1984.
Leick, Alfred: GPS Satellite Surveying, 1990, ISBN 0-471-81990-5
Wiley Interscience, 605 3rd Avenue, New York NY 10158-0012
DIFFERENTIAL GPS
Proceedings of ION GPS. International Technical Meeting of the Satellite
Division of the Institute of Navigation. Annually since 1988.
Proceedings of the National Technical Meeting. Biannually by Institute of
Navigation.
Proceedings of the International Geodetic Symposium on Satellite Positioning.
Proceedings of the International Symposium on Differential Satellite Navigation
Systems. Annually since 1992.
Qin, Xinhua, et al: Very Precise Differential GPS - Development Status and
Test Results, Proceedings of ION GPS-92, Albuquerque, New Mexico, 1992.
Chou, Hsing-Tung: An Adaptive Correction Technique for Differential Global
Positioning System, Ph.D. Thesis, Stanford University, June 1991.
Kee, Changdon: Algorithms and Implementation of Wide Area Differential
GPS, Proceedings of ION GPS-92, Albuquerque, New Mexico, 1992.
KALMAN FILTERING THEORY AND APPLICATION
Gelb, Arthur: Applied Optimal Estimation, The M.I.T. Press, 1974.
Bryson, Arthur E. and Ho, Yu-Chi: Applied Optimal Control, Hemisphere

Publishing Corporation, 1975.

Bierman, Gerald J.: Factorization Methods for Discrete Sequential Estimation,
Academic Press, 1977.

INDEX
$GPGGA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
$GPGLL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
$GPGRS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89, 90
$GPGSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
$GPGSN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92, 93
$GPGSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
$GPGSV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95, 96
$GPGXP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
$GPMSG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98-104
$GPRRE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108, 109
$GPVTG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
$PASHQ,DIR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 54
$PASHQ,GGA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85, 86
$PASHQ,GLL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87, 88
$PASHQ,GRS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89, 90
$PASHQ,GSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
$PASHQ,GSA,x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
$PASHQ,GSN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
$PASHQ,GSN,x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
$PASHQ,GSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93, 94
$PASHQ,GSS,x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
$PASHQ,GSV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
$PASHQ,GXP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
$PASHQ,GXP,x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
$PASHQ,LPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
$PASHQ,MBN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
$PASHQ,MCA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
$PASHQ,MEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 56
$PASHQ,MSG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 98, 35, 98
$PASHQ,MSG,x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
$PASHQ,PAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22, 44, 47, 66
$PASHQ,PBN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
$PASHQ,POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105, 106
$PASHQ,POS,x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
$PASHQ,POW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
$PASHQ,PPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 58
$PASHQ,PRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16, 47, 67
$PASHQ,RID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11, 12, 47, 66, 67, 125
$PASHQ,RRE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108, 109
$PASHQ,RTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22, 25, 44, 114, 116, 119, 122
$PASHQ,SAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
$PASHQ,SAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
$PASHQ,SEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 69
$PASHQ,SNV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
$PASHQ,STA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16, 47, 69
$PASHQ,VTG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112, 113
$PASHQ,VTG,x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
$PASHQ,xxx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
$PASHR,ACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20, 43, 44
$PASHR,ACK*3D<CRLF> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
$PASHR,LPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

$PASHR,MBN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
$PASHR,MCA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
$PASHR,NAK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20, 43, 44
$PASHR,NAK*30<CRLF> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
$PASHR,PBN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
$PASHR,POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17, 105-107
$PASHR,POW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
$PASHR,PRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16, 67
$PASHR,RID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11, 12, 66, 67
$PASHR,RID,SC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12, 66, 67
$PASHR,SAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
$PASHR,SAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17, 110, 111
$PASHR,SNV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
$PASHR,TTT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
$PASHS,ALT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31, 32, 46, 48, 59
$PASHS,ANH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 49
$PASHS,CLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 55
$PASHS,DIF,AUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
$PASHS,DIF,MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
$PASHS,DSC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 53
$PASHS,DSY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 61
$PASHS,ELM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 52
$PASHS,EPG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 50
$PASHS,FIL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 53
$PASHS,FIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31, 46, 59, 31
$PASHS,HDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 51
$PASHS,ION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 54
$PASHS,LAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32, 46, 48
$PASHS,LON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32, 46, 48, 49
$PASHS,LPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 62
$PASHS,MSV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 50
$PASHS,NME . . . . . . . . . . . . . . . . 16, 17, 32, 35, 37, 72, 73, 75, 77, 78, 81, 83-98, 105-113
$PASHS,NME,ALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83-85
$PASHS,NME,GGA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 85, 86, 85
$PASHS,NME,GLL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 87, 88
$PASHS,NME,GRS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 89
$PASHS,NME,GSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 91
$PASHS,NME,GSN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 90, 92
$PASHS,NME,GSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 93, 94, 93
$PASHS,NME,GSV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 95
$PASHS,NME,GXP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 96, 97, 96
$PASHS,NME,MBN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72, 73
$PASHS,NME,MCA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72, 75
$PASHS,NME,MSG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 83, 98
$PASHS,NME,PBN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72, 77
$PASHS,NME,PER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32, 83, 84, 105
$PASHS,NME,POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16, 83, 84, 105, 106
$PASHS,NME,RRE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 107-109
$PASHS,NME,SAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72, 81
$PASHS,NME,SAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17, 83, 109, 110, 109
$PASHS,NME,SNV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72, 78
$PASHS,NME,str,x,y . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72, 83, 84
$PASHS,NME,TTT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37, 83, 111, 112
$PASHS,NME,VTG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 112, 113
$PASHS,PDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 51, 52
$PASHS,PEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 52
$PASHS,PHE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37, 46, 57

$PASHS,PHO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 56
$PASHS,PMD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29, 46, 59, 60
$PASHS,POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32, 46, 49
$PASHS,POW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 64
$PASHS,PPO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30, 46, 60
$PASHS,PPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40, 46, 57
$PASHS,PWR,OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6, 18, 65
$PASHS,RCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33, 38, 46, 51, 72
$PASHS,REC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 50
$PASHS,RNG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 54
$PASHS,RST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21, 28, 29, 31, 35, 46, 56, 122
$PASHS,RTC,AUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
$PASHS,RTC,BAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 115
$PASHS,RTC,MAX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 114, 115
$PASHS,RTC,MSG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 115
$PASHS,RTC,OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 115
$PASHS,RTC,QAF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 116
$PASHS,RTC,REM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 116
$PASHS,RTC,SEQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 116, 117
$PASHS,RTC,SPD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 117
$PASHS,RTC,STH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 118
$PASHS,RTC,STI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 117
$PASHS,RTC,TYP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98, 114, 118, 119
$PASHS,SAV,N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
$PASHS,SES,PAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 70
$PASHS,SES,SET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 71
$PASHS,SIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 51
$PASHS,SPD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21, 47, 65
$PASHS,SVS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 68
$PASHS,SVS,xxx...x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
$PASHS,UNH,N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
$PASHS,UNH,Y . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44, 60
$PASHS,USE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 68
$PASHS,VDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 52
$PASHS,xxx,<data items>*cc<CRLF> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2-D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22, 48, 59, 60, 86, 91, 94, 106
3-D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20, 22, 43, 59, 60, 91, 94
Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 4, 23, 30, 34, 37, 40, 64, 80
Acknowledged message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Age . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-27, 35, 86, 87, 92, 114, 115, 119-121, 126
AIRCRAFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Almanac . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 4, 29, 32, 56, 72, 81, 82, 126-128, 131, 135
Almanac week . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Altitude hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18, 22, 30, 31, 46, 48, 59
Altitude Hold Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Altitude hold position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 59
Altitude hold position fix mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Altitude of external encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Altitude units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Altitude, GPS Sensor-computed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Altitude, Sensor-computed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Antenna cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Automatic differential mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
B-file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Base mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-28, 31, 48, 49, 115, 117, 118, 120-122
Baud . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15, 16, 21, 44, 47, 65, 67, 114, 131-133

Baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21, 44, 47, 65, 67, 114, 132

Broadcast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127-129
C/A code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4, 13, 14, 18, 19, 38
Carrier loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62, 63
Carrier phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12, 25, 74, 76, 137
Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4, 14, 47, 69, 74, 76, 77
Characters after the time item . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99, 101-104
Clear all memory, reset/reboot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29, 34, 78, 79, 82
Clock correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79, 82
Code phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Communication link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Computed position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Correction . . . . . . . . . . . . . . . . . . . . . . . . 31, 33, 35, 42, 74, 77, 79, 80, 82, 99, 115, 116, 137
Corrections (determining differential) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Course over ground - COG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106, 113
Current GPS time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101, 103, 85, 97, 99, 101, 103, 106
Customer support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124, 125, 134, 135
Datum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Differential GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1, 34, 36, 126, 137
Differential operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18, 33, 116
Dilution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 22, 23, 35, 46, 51, 86, 94, 106, 126
Doppler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4, 29, 34, 74, 76, 126
DSY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 61
Dynamic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Eccentricity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80, 81
Elevation mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23, 24, 29, 30, 43, 46, 52, 70, 73, 75
Ellipsoidal height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46, 48, 49
Error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 107
Event marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7, 8, 10-12, 56, 57, 83, 111, 112
FAX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2, 125, 127, 130
FAX line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
FCC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 126
Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2, 12, 19, 62, 66, 67, 106, 125
Fixed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22, 40, 94, 106
Float . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78-82
General command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Geoidal height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12, 86
Geoidal separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86, 87
Geoidal separation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
GPPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
GPS week . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37, 79, 82, 112
Harmonic correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
HDOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30, 46, 51, 60, 86, 87, 91, 106, 107, 126
HDOP mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30, 46, 51, 60
Health . . . . . . . . . . . . . . . . . . . . . . . . . . 26, 27, 80, 81, 99-104, 114, 118, 120, 121, 126, 127
HI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Horizontal dilution of precision - HDOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86, 106
HOSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Hot line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2, 125
Hot line (voice telephone) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Inclination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80, 81
Integrity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132, 133
Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1, 2, 4, 9, 10, 13-16, 18, 19, 42, 127
Ionosphere . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 46, 136

Ionospheric model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31, 46, 54

L1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1, 4, 10
Latitude component of position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85, 88, 97, 106
Latitude sector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85, 88, 97, 106
Latitude/longitude response message ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Latitude/longitude response message, get . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
LNA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1, 4, 9, 126
Longitude component of position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85, 88, 97, 106
Longitude sector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85, 88, 97, 106
Loop tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 62
Magnetic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12, 113
Magnetic course over ground marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Magnetic track/magnetic course over ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Magnetic variation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12, 113
Maximum age . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27, 35, 114, 115, 121
Maximum age of an RTCM differential correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Measured range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31, 33
Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 4, 10, 23, 24, 29, 37, 46, 54-57, 62, 124, 126
Memory test result, show . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
MESSAGE . . . . . . . . . 3, 12, 15-17, 19-22, 24, 25, 27, 28, 32, 35, 36, 42-45, 54, 58, 64, 66,
67, 72, 73, 75, 76-79, 81, 83-85, 87-105, 107-115, 118-122, 126, 127,
140
Message type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27, 28, 36, 72, 84, 98, 99, 101, 115, 122
Message types, RTCM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Message with RTCM reference (base) station message ON/OFF . . . . . . . . . . . . . . . . . . . . 98
Minimum number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22, 24, 46, 50, 59, 70
Modem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128, 131, 132
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
NMEA . . . . . . . . . . 12, 17-22, 24, 32, 42, 44, 45, 66, 83-85, 87, 89, 93, 105, 123, 126, 140
NMEA response message group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Noise bandwidth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Not-acknowledged message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Number of SVs used in position computation . . . . . . . . . . . . . . . . . . . . . . . . . . . 86, 106, 107
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Option . . . . . . 11, 17, 18, 24, 28, 30, 32, 36, 37, 40, 42, 51, 62, 74, 76, 84, 86, 105, 111, 113
Orbit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 34, 79-81, 127, 130
Parameter settings and status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18, 21
Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128, 131
PDOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 35, 46, 51, 52, 78, 91, 94, 106, 107, 126
Period, send interval of NMEA response messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Phase noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Photogrammetry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6, 11, 12, 18, 37, 38, 46, 56, 57
Position Dilution of Precision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 106
Position dilution of precision - PDOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Position error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 83, 107-109
Position fix . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22, 23, 29, 31, 44, 46, 59, 85, 86, 90, 97, 110
Position fix response message ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Position fix solution/variables response message, get . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22, 59, 29, 51
Position response message ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105, 107
Post-processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Power consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4, 10, 64
Power-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18, 19, 21, 28, 31, 35, 122
Power/Input/Output Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7, 8, 140, 7
PRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99-101
PRISM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
PRN . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 29, 68, 69, 74, 75, 80, 81, 92-96, 99-101, 108-111

Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124, 132, 133, 124

Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15, 21, 32, 33, 132, 133, 136
QA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25, 26, 76, 116, 119-121
QAF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25, 27, 114, 116, 119, 121
Quality factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26, 116, 120
Quality factor, maximum received frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Quantity of SVS locked, number of SVs in message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Query command . . . . . . . 19, 22, 24, 25, 28, 35, 42, 44, 57, 58, 62, 64, 71, 73, 75, 77, 79, 81,
84, 85, 87, 89, 91, 92, 93, 95, 97, 98, 105, 108, 110-112, 116, 119,
122
Radio interference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Radio link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Range correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31, 33, 99
Range corrections, determining in the base receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Range error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Range measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Range residual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 89, 90, 108, 109
RAW POSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 72
Raw/differential position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86, 90, 106
Receiver noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
RECORD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24, 37, 38, 50, 71
Reference time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79-81
Remote . . . . . . . . . . . . . . . . . . . . 1, 10, 12, 19, 23, 25-28, 33, 34, 36, 114-116, 120-122, 135
Remote station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12, 19, 33, 114, 116
Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21, 29, 35, 46, 55, 56, 76, 116, 124
Reset/reboot the GPS Sensor and clear all memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Residual error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Right ascension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80, 81
RMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 34, 108, 126
RMS noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Rover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1, 33, 117
RRE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22, 24, 66, 83, 84, 107-109
RS-232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4, 7, 8, 10, 19, 21, 44
RTCM . . 1, 22, 23, 26, 33, 35, 36, 42, 66, 92, 93, 98-104, 106, 114-118, 120-123, 126, 140
RTCM 104 Format, Version 2.0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
RTCM type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99, 101-104, 99, 101, 103
Satellite . . . . . . . . . . 1, 4, 17, 18, 23, 24, 29, 34, 68, 73-76, 79-81, 83, 89-92, 94-96, 99-101,
107-110, 123, 126, 127, 128, 130, 133, 137
Satellite health . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80, 81
Satellite range residual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 89
Satellite residual and position error response message . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Satellite search algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18, 29
Satellite status response message ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Satellites in view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Save parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23, 46, 55
Seconds of GPS week . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79, 82
Selective availability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4, 30, 33
Self test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Semicircles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79-81
Sequence number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99-104, 114, 116, 117
Serial port configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18, 21
Set command . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-21, 28, 31, 35, 42, 43, 84, 98, 105, 122
Signal strength/satellite number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83, 92
Signal strength/satellite number response message ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . 92
Signal strength/SVs locked response message, get . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 77
SOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31, 94, 110

Sources of error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33, 34
Speed of serial port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Speed over ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Speed over ground - SOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Static . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30, 63, 126
Station ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26, 27, 87, 100, 102, 104, 117, 120, 121
Station identification (user stid) of the base site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Station identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99, 101, 103, 99, 101, 103
Station X component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99, 101, 103
Status of SVs currently locked . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 69
Status of SVs currently locked, show . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
STID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25, 26, 86, 117, 119, 120
SV azimuth angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
SV elevation angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
SV enable/disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SV health status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
SV PRN number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92, 94, 110
SV signal strength/signal-to-noise ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92, 110
SVs used in position computation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86, 106, 107
Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25, 39, 76, 120
System setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
TDOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106, 107, 126
Telephone assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114, 116
Time dilution of precision - TDOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Time tag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 78
Time, current GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99, 101, 103
Time, GPS, current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85, 97, 106
Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3, 10, 19, 44, 47, 62
Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26, 32, 33, 99, 118, 120, 133
Transmission protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32, 33
Troposphere . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
True course . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106, 113
True course over ground marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
True range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31, 33
True track . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106, 113
True track/true course over ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106, 113, 106, 113
UDRE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99-101
Unhealthy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23, 44, 46, 59, 60
Unhealthy SV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Unsmoothed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Update rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
User STID of the base site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
UTC time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85, 90, 97, 99, 106
VDOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31, 46, 52, 59, 91, 106, 107, 126
Velocity/course response message ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Version . . . . . . . . . . . . . . . . . . . . . . . . . . . 2, 1, 11, 12, 32, 35, 36, 66, 67, 106, 107, 123, 125
Version ID, GPS Sensor firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Vertical dilution of precision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Vertical velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106, 107
Voice line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Waypoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Z count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99-104

TIPS FROM THE FIELD

The two most frequent causes of lost data are cable failures and inadequate
power supply. Prevent these disasters and ensure the success of your survey
by being adequately prepared before you go to the field. Take a Survey
Saver Emergency Kit containing:
C At least one battery, fully charged
C Power cables - have one with alligator clips for use with your
vehicle battery, and make it extra long
C Antenna coaxial cable
C Connectors for power cable and antenna coaxial cable
C Battery-powered solder gun and solder
C A spray can of electrical contact cleaner. Clean your
connectors before and after each use
C An inexpensive multimeter for monitoring battery voltage and
for checking continuity and shorts in cables
C Wire stripper, side cutter, electrical tape
Don't knot or kink your cables, walk on them, stand on them, drive over
them, or stow them carelessly.

Figure 1. Ashtech SCA-12 GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Figure 2. Ashtech SCA-12S GPS Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 3. SCA-12 Power/Input/Output Connectors . . . . . . . . . . . . . . . . . . . . 5
Figure 4. SCA-12 Power and Serial Connector Pinouts . . . . . . . . . . . . . . . . 6
Figure 5. SC-12S Power/Input/Output Connector . . . . . . . . . . . . . . . . . . . . . 7
Figure 6. Closed-Loop Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Figure 7. 1PPS Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Table 1. Receiver Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 2. Raw Data Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Table 3. NMEA Data Message Commands . . . . . . . . . . . . . . . . . . . . . . . . . 80
Table 4. RTCM Response Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
136

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SCA-12 GPS RECEIVER

SCA-12S GPS SENSOR

Document Number 630007, Revision A

Publication date April 1995

© Copyright 1995 by Ashtech, Inc. All rights reserved.

Ashtech, Inc. 1170 Kifer Road Sunnyvale, CA 94086

C Reorient or relocate the receiving antenna.

Changes or modifications not expressly approved in writing by Ashtech may

CUSTOMER SUPPORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

REFERENCE DOCUMENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Figure 1. Ashtech SCA-12 GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Figure 1. Ashtech SCA-12 GPS Receiver

Figure 2. Ashtech SCA-12S GPS Sensor

With four locked SVs, the SCA-12/12S can determine three-dimensional

One independent measurement is determined per half-second, with no

simultaneously. The SCA-12/12S uses a sophisticated technique for

The SCA-12/12S features 12-channel/12-SV All-In-View operation; each of

Figure 3. SCA-12 Power/Input/Output Connectors

SCA-12 signal designations are detailed in the following table.

Connector Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7

Power Ground 6-15 Control*

Serial A No connection Ground CTS RTS RXD TXD Reserved. Do not

Serial B No connection Ground CTS RTS RXD TXD Photogrammetry in

Serial C No connection Ground CTS RTS RXD TXD 1 PPS out

Figure 4. SCA-12 Power and Serial Connector

Figure 5. SCA-12S Power/Input/Output Connector

Pin Code Description

11 RTSA RS-232 port A request to send

To determine which options are in your receiver, use the $PASHQ,RID

There are 13 available options. Each option is represented by a letter or

The options in the slot order are:

Differential - Base Station [B]

Details are given in the Commands/Response Formats chapter.

Briefly discussed in Getting Started are:

C Power requirements for the SCA-12/12S.

C Procedure for connecting the SCA-12/12S to power, the antenna, and

C Important default parameters.

C Procedure for sending common commands to the SCA-12/12S.

1. Connect the interface cable(s) to the DB25 connector of the SCA-

2. Connect the power cable to the power supply.

3. Applying power to the SCA-12/12S starts the unit. Once power is

4. When you disconnect power, disconnect the interface cable from

Once power is on and the antenna connected, the SCA-12/12S starts

IMPORTANT DEFAULT PARAMETERS

Baud Data Bits Parity Stop

9600 8 None One

When you first establish communications with the SCA-12/12S, your

Data Output Options

INITIAL OPERATING INSTRUCTIONS

Command the SCA-12/12S

1. Type in capital letters: $PASHQ,PRT and press <Enter>. This

2. If interfacing through serial port A, the response message is

$PASHR,PRT,A,5. SCA-12/12S port A is using its default

3. Type in capital letters: $PASHQ,STA and press <Enter>. This

4. The response message typically might display:

5. If interfacing through port A, type in capital letters:

6. The response message displays once per half-second or once per

where the "......." is your position information, if you have enough

7. If interfacing through port A, type in capital letters: