In this paper, an algorithm is proposed to estimate thousands of channel parameters in massive multiple-input multiple-output (MIMO) systems with a three-dimensional antenna array, using only one training symbol while assuming no knowledge of path number, noise power, path gain and direction-of-arrival (DOA) statistics. Furthermore, the received data structure is exploited to give a low-complexity DOA acquisition scheme with closed-form computations. Simulation results show excellent performance of the proposed algorithm in both channel estimation and DOA acquisition.