ATLAS North America Proprietary
Sea Scan ARC Scout MKII Operations Manual
1 of 1
Page: 41
Issue: 1.2.4
SCTM2-OPS
Operations Manual
$MSAUV,<decimal seconds>, <A/V>, <latitude>, <N/S>, <longitude>, <E/W>, <SOG knots>, <COG>, <heading
true>, <depth>, <altitude>,<roll>,<pitch>* hh<CR><LF>
Format:
Name
Example
Units
Description
Start Of String
$
$ indicates start of string
Message ID
MSAUV
Marine Sonic AUV string
identifier
GMT Time
<decimal seconds>
Decimal Seconds
Decimal seconds since the
EPOCH (January 1st, 1970).
Usually returned by the time()
function.
Status
<A/V>
A = valid data or V = invalid
data
Latitude
<latitude>
Latitude in the format:
ddmm.mmmm (d = degrees, m
= minutes, up to 6 decimal
places)
N/S Indicator
<N/S>
N = North or S =South
Longitude
<longitude>
Longitude in the format:
dddmm.mmmm (d = degrees,
m = minutes, up to 6 decimal
places)
E/W Indicator
<E/W>
E = East or W = West
Speed Over Ground
<SOG knots>
knots
Measured horizontal speed
over ground.
Course Over Ground
<COG>
degrees
Measured course over
ground.
True Heading
<heading true>
degrees
Measured sonar true heading.
Depth
<depth>
meters
Depth of the sonar (Distance
from the surface to the
sonar).
Altitude
<altitude>
meters
Altitude of the sonar
(Distance from the sea floor
to the sonar).
Roll
<roll>
degrees
Roll of the sonar. + =
Starboard and - = Port
Pitch
<pitch>
degrees
Pitch of the sonar. + = Up and
- = Down
Checksum Delimeter
*
The checksum comes after
this character.
10
2 Digit Hexadecimal
Sentence Terminator
<CR><LF>
Indicates end of sentence.
