Blueprint Subsea seatrac X100 Series, Manual, Page: 47 / 140

SeaTrac Serial Command Interface Reference
Page 47
 Bit[0] = RANGE_VALID
If this bit is set, it indicates the record contains the
Range fields discussed below.
MSG_TYPE AMSGTYPE_E The type of acoustic message received to generate
this fix.
ATTITUDE_YAW INT16 The yaw angle (relative to magnetic north) of the
local beacon when the fix was computed.
Values are encoded as deci-Degrees, so divide by
10 for just degrees to a 0.1° resolution.
ATTITUDE_PITCH INT16 The pitch angle of the local beacon when the fix
was computed.
Values are encoded as deci-Degrees, so divide by
10 for just degrees to a 0.1° resolution.
ATTITUDE_ROLL INT16 The roll angle of the local beacon when the fix was
computed.
Values are encoded as deci-Degrees, so divide by
10 for just degrees to a 0.1° resolution.
DEPTH_LOCAL UINT16 The reading from the local beacon depth sensor
when the fix was calculated.
Values are encoded in decimetres, so divide by 10
to obtain a value in metres to a 0.1m resolution.
VOS UINT16 The velocity of sound value used for the
computation of the remote beacon’s range based on
timing information.
Values are encoded in decimetres-per-second, so
divide by 10 for a value in metres-per-second.
RSSI INT16 The Received Signal Strength Indicator value for
the received message, encoded in centibels. To
decode, divide this value by 10 for decibels to a 0.1
dB resolution.
Range Fields
If the message FLAGS parameter contains the RANGE_VALID bit, then the following fields are
sequentially appended to the record…
RANGE_COUNT
UINT32 The number of 16kHz timer intervals that were
counted between Request message transmission
and Response message reception.
RANGE_TIME INT32 The time in seconds derived from the
RANGE_COUNT value, and with internal timing
offsets and compensation applied.
Values are encoded in 100 nanosecond multiples,
so divide by 10000000 to obtain a value in seconds.