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.. UHDAS/CODAS restructured text document
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**Ashtech** Diagnostics
--------------------------


$PASHR,ATT messages
~~~~~~~~~~~~~~~~~~~

* Example: Good data message

::

  $PASHR,ATT,88536.0000,345.9640,0.0390,-0.9052,0.0024,0.0144,0*0E
                          head  , pitch,  roll                 R CC

  R = Reacquisition Flag.  0 is good (1 is Bad, i.e. 'yes, I did have to try again')
  CC = checksum

..


* Example: Bad data message:

::

  $PASHR,ATT,333631.0000,,,,,,*30

  (pretty obvious -- "all commas" can't be good)


* Example: Bad  data message:

::

  $PASHR,ATT,74432.0000,35.3421,0.0000,0.0000,0.0013,19150.0205,1*15


  NMEA                         $PASHR,ATT
  seconds in the week           74432.0000
  heading                        35.3421
  pitch                        0.0000        <----- bad
  roll                         0.0000        <----- bad
  mrms                         0.0022
  brms                         19150.0205
  reacquisition                1             <----- bad
  checksum                     *15


$PASHR,AT2 messages
~~~~~~~~~~~~~~~~~~~~~

* Example: Good data message

::

  $PASHR,AT2,562422.0000,254.6341,0.6977,0.1069,0.0028,0.0263,0,00,0.667,1.7814*65
                         heading , pitch, roll   mrms  brms     R,LL

  R = Reacquisition Flag.  0 is good (1 is Bad, i.e. 'yes, I did have to try again')
  LL = Last State (0= no search in progress, >0 search in progress)
  CC = checksum

* Example: Bad data message

::


  $PASHR,AT2,562358.0000,254.2164,0.0000,0.0000,0.0000,999.0000,1,00,5.778,1.7030*6E
                         heading , pitch, roll   mrms  brms     R,LL

  heading = 254.2164
  pitch = 0.0000             <----- bad
  roll = 0.0000              <----- bad
  mrms = 0.0000              <----- bad
  brms = 999.0000            <----- bad
  reacquisition flag = 1      Bad is 1 (i.e. 'yes, I did have to try again')
  last state = 00             Very Bad is 00 (not trying)


$GPPAT messages
~~~~~~~~~~~~~~~~

* Example: Good data message

::

  $GPPAT,002525.50,4018.48676,N,07108.22871,W,-00029.59,70.4317,000.73,-000.56,0.0030,0.0337,0*54
                                                        heading, pitch,  roll , mrms, brms  ,R CC


  R = Reacquisition Flag.  0 is good (1 is Bad, i.e. 'yes, I did have to try again')
  CC = checksum


* Example: Bad data message

::

  $GPPAT,015458.50,0459.6396,S,00000.0563,W,+00032.3,132.940,+00.00,+00.00,0.0052,0.0575,1*57
                                                     heading, pitch,  roll , mrms, brms  ,R CC


  heading = 132.94
  pitch = +00.00            <-----------  bad
  roll = +00.00             <-----------  bad
  mrms = 0.0053
  brms = 0.0575
  reacquisition flag = 1    <-----------  bad




Indications of bad data:
~~~~~~~~~~~~~~~~~~~~~~~~

(1) pitch and roll are zero

(2) reacquisition flag is 1 (i.e. it DID try again)


So, it is often hard to tell from the green panels that there was
a problem, because there are barely enough lines.



checking on UHDAS computer
~~~~~~~~~~~~~~~~~~~~~~~~~~

The following messages might be logged on **currents**:

    * $PASHR,ATT
    * $PASHR,AT2
    * $GPPAT

Check the UHDAS GUI to see what the message actually is.
To see what the ashtech values are (eg. for a ``$PASHR`` message),
while UHDAS is running, type the following in a terminal window
on **currents**:

::

    showlast.py -a20 | grep PASHR