SeaTrac Serial Command Interface Reference
Page 48
RANGE_DIST
UINT16
The resolved line-of-sight distance to the remote
beacon, based on the RANGE_TIME and VOS
values.
Values are encoded in decimetres, so divide by 10
for a value in metres.
USBL Fields
If the message FLAGS parameter contains the USBL_VALID bit, then the following fields are
sequentially appended to the record…
USBL_CHANNELS
UINT8
The number of USBL receiver channels being used
to compute the signal angle. Typically this value is
either 3 or 4.
USBL_RSSI
INT16[x]
An array of the received signal strengths for each of
the USBL receiver channels, where “x” is the value
defined by the CHANNELS field.
Values are encoded in centi-Bels, so divide by 10 to
obtain a value in decibels to a resolution of 0.1dB.
USBL_AZIMUTH
INT16
The incoming signal azimuth angle from 0° to 360°.
Values are encoded as deci-Degrees, so divide by
10 for just degrees to a 0.1° resolution.
USBL_ELEVATION
INT16
The incoming signal elevation angle from -90° to
+90°.
Values are encoded as deci-Degrees, so divide by
10 for just degrees to a 0.1° resolution.
USBL_FIT_ERROR
INT16
The fit error value returns a number that indicates
the quality of fit (or confidence) of the signal
azimuth and elevation values from the timing and
phase-angle data available.
Smaller values towards 0.0 indicate a better fit,
while larger values (increasing above 2-3) indicate
poorer fits and larger error tolerances.
Values are dimensionless, but divide the value by
100 to obtain a signed floating-point value to a
resolution of 0.01.
Position Fields
If the message FLAGS parameter contains the POSITION_VALID bit, then the following fields
are sequentially appended to the record…
POSITION_EASTING INT16
The
Easting
distance component of the relative
position of the remote beacon to the local beacon