NMEA-0183 message: PASHR – Proprietary roll and pitch sentence

Roll and pitch information

An example of the PASHR message string is:

$PASHR,hhmmss.sss,hhh.hh,T,rrr.rr,ppp.pp,a.aaa,b.bbb,c.ccc,d,e*hh<CR><LF>

With INS-enabled, the sixth field shows heave, for example:

$PASHR,001735.000,319.758,T,-0.397,-0.342,hhh.hh,0.062,0.046,0.231,5,3*1B

PASHR message fields

Field

Meaning

0

Message ID $PASHR

1

hhmmss.ss - UTC time of data string

2

hhh.hhh – True Heading

3

T – flag to indicate that the Heading is True Heading (i.e. to True North)

4

rrr.rr – Roll Angle in degrees

5

ppp.pp – Pitch Angle in degrees

6

hhh.hh – Heave in meters. Available for marine receivers with the INS option installed. Heave is +ve above the zero datum and -ve below the zero datum.

7

a.aaa – Roll Angle accuracy estimate in degrees

8

b.bbb – Pitch Angle accuracy estimate in degrees

9

c.ccc – Heading Angle accuracy estimate in degrees

10

d – GNSS Quality:

0 – Fix not available
1 – GNSS SPS mode, fix valid
2 – Differential GPS, SPS mode, fix valid, VBS, BCN
3 – GNSS PPS mode
4 = RTK mode with fixed integer ambiguity
5 = RTK mode with floating integer ambiguity or OmniSTAR HP/XP
6 – Estimated (DR) mode

11

e – IMU Alignment Status:

0 – GPS Only
1 – Coarse Leveling
2 – Degraded Solution
3 – Fine Align
4 – Full Navigation

12

hh – Checksum

<CR><LF>

Carrriage return and line feed