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SeaTrac Serial Command Interface Reference

Page 90

7.5.2.

CID_AHRS_CAL_GET

The CID_AHRS_CAL_GET command allows the current calibration coefficients in use by the
AHRS system to be quickly retrieved.

As an alternative to this command, use

CID_SETTINGS_GET

Command Message Parameters

Parameter Type Description

MSG_ID

CID_E

Command

identification code

(CID_AHRS_CAL_GET)

Response Message Parameters

Parameter Type Description

MSG_ID

CID_E

Command

identification code

(CID_AHRS_CAL_GET)

AHRS_CAL

AHRSCAL_T

The structure containing the current calibration
coefficients in use on the AHRS system.

Summary of Contents for seatrac X100 Series

Page 1: ...X100 Series Acoustic Beacons Serial Command Interface Reference for firmware version 1 2 UM 140 D00221 02...

Page 2: ......

Page 3: ...16 4 Getting Started 17 4 1 Equipment Required 17 4 2 Testing in air 17 4 3 Reading Beacon Information 18 4 4 Fetching Updating and Storing Settings 19 4 5 Requesting Status Output 20 4 6 Calibrating...

Page 4: ...ields Bit Mask 63 7 Beacon Management Message Definitions 65 7 1 System Messages 65 7 1 1 CID_SYS_ALIVE 65 7 1 2 CID_SYS_INFO 66 7 1 3 CID_SYS_REBOOT 67 7 1 4 CID_SYS_ENGINEERING 68 7 2 Firmware Progr...

Page 5: ...3 5 CID_DAT_QUEUE_CLR 121 8 3 6 CID_DAT_QUEUE_STATUS 122 8 4 NAV Protocol Messages 123 8 4 1 CID_NAV_QUERY_SEND 123 8 4 2 CID_NAV_QUERY_REQ 125 8 4 3 CID_NAV_QUERY_RESP 126 8 4 4 CID_NAV_ERROR 128 8 4...

Page 6: ...SeaTrac Serial Command Interface Reference Page 6...

Page 7: ...ture modified to contain new Position Filter enable flag and control fields XCVR_POSFLT_ENABLE XCVR_POSFLT_VEL XCVR_POSFLT_ANG and XCVR_POSFLT_TMO Fields are appended on the end of the structure for b...

Page 8: ...nger required to be set in the acoustic transceiver settings o CID_ECHO_SEND command now has a MSG_TYPE field to specify how messages are sent either as Request Standard MSG_REQ Request USBL MSG_REQU...

Page 9: ...9 Transmitter waveform modified for improved performance Widened USBL detection window to allow greater multipath tolerance as signal is processed by the data decoder Revision 1 Firmware v1 0 Initial...

Page 10: ...nications port hardware and command protocol and intended to be read in addition to the hardware and operational notes discussed in the specific Beacon s user manual The subsequent sections of this do...

Page 11: ...web pages see below The graphical interface provides user controls and displays to send messages to and from the beacon hardware and the communications Journal function keeps track of the individual s...

Page 12: ...perational ranges and performance that can be achieved between acoustic beacons depends heavily on environmental factors including water temperature dissolved oxygen content marine plant life and man...

Page 13: ...orrect formatting is observed and the message content is valid by means of a checksum The serial UART hardware features a 64 byte hardware receive buffer from which data is analysed and decoded starte...

Page 14: ...e controlling the communication hardware are only applied on power up or a software reboot command Details of these are discussed in section 6 4 9 on page 57 Settings can be reset to factory values by...

Page 15: ...ilable One Way Data is sent One Way and does not require a response so may be broadcast to all other beacons if required One Way USBL As above data is sent one way but additional USBL information is s...

Page 16: ...the ISO OSI network protocol suite provides additional beacon functionality through the use of Acoustic Protocols For further details on Acoustic Protocols and their command sets please refer to secti...

Page 17: ...and view output from the beacons serial port For each beacon in the setup a separate bench top power supply capable of delivering at least 1 amp at 12V with a smoothed DC output Suitable leads to con...

Page 18: ...eading Beacon Information For new users it is recommended that the first activity attempted is to read and validate the beacon information command First connect a beacon to the computers serial port a...

Page 19: ...command reference section of this document Alternately you could use the SeaTrac Tools application to send the above command and use the Journal to decode the information fields as Received Len 41 byt...

Page 20: ...to apply communication settings issue a CID_SYS_REBOOT command now 4 5 Requesting Status Output Using a process similar to that described in section 4 3 above you can make you application manually re...

Page 21: ...osen to be either 5Hz or 10Hz with the STATUSMODE_E enumeration and the STATUS_BITS_T type for STATUS_OUTPUT contain the ACC_CAL and AHRS_RAW_DATA bits Send the CID_CAL_ACTION command with the ACTION...

Page 22: ...ompted to stop movement Send the CID_CAL_ACTION command with the ACTION parameter chosen to be CAL_MAG_CALC from the CAL_ACTION_E enumeration to compute the Hard and Soft Iron compensation coefficient...

Page 23: ...d Check the beacon uses the same response turnaround time value as the remote beacons in the XCVR_RESP_TIME field typically this should be 10ms Program any settings changed back into the beacon using...

Page 24: ...ld their own control algorithms that poll a network of remote beacons obtaining positing information for each one Iterations of the main loop should poll each beacon in turn with a CID_PING_SEND comma...

Page 25: ...e RS232 serial link with the following settings 115200 Baud Rate the baud rate can be adjusted via the beacon settings see the Beacon User Manual or CID_SETTINGS_SET command for further details 8 Data...

Page 26: ...racter All other characters are invalid For data values that require more than one byte in size to transmit i e 16 bit Words and 32 bit DWords the value is transmitted least significant byte first Lit...

Page 27: ...the message is considered valid When transmitting a message a buffer should be populated with the CID and message payload then the checksum of this computed and appended to the end of the buffer The...

Page 28: ...Checksum 0xCFC1 10000DC0 CID 0x10 Payload 0x00 Checksum 0xC00D 4002B001 CID 0x40 Payload 0x02 Checksum 0x01B0 31020104000000001109 CID 0x32 Payload 7 bytes Checksum 0x0911 0282330000011B030169 0E00000...

Page 29: ...NGLE An four byte representation of a Single precision floating point number as defined by the IEEE754 standard 1 sign bit 8 bit exponent 23 bit fraction INT8 A single byte representing an 8 bit signe...

Page 30: ...from 0 up to the number of array elements minus 1 i e for a definition of x UINT8 12 elements are defined as x 0 to x 11 6 3 Enumerations Constants Enumerated types or Enums are data types that have...

Page 31: ...USBL acoustic information allowing an incoming bearing to be determined by USBL receivers although range cannot be provided 0x2 MSG_REQ Indicates an acoustic message is sent as a Request type This req...

Page 32: ...more accurate position fix to be computed by USBL receivers through the range remote depth and incoming signal angle 0x7 MSG_RESPX Indicate an acoustic message is sent as a Response to a previous Req...

Page 33: ...yload contents of the message be returned back to the sender 0x2 PLOAD_NAV Specified an acoustic message payload should be interpreted by the NAV Navigation protocol handler NAV messages allow trackin...

Page 34: ...nd 0x0D BAUD_115200 115200 bits per second 6 3 4 BID_E Beacon Identification Code Beacon Identification BID Codes are used to identify a specific beacon that should receive acoustic messages or identi...

Page 35: ...fy the current calibration 0x02 CAL_ACC_CALC Calculates the new accelerometer calibration coefficients from the measured sensor limit values 0x03 CAL_MAG_DEFAULTS Sets the current magnetometer calibra...

Page 36: ...S_INFO Command sent to receive hardware firmware identification information 0x03 CID_SYS_REBOOT Command sent to soft reboot the beacon 0x04 CID_SYS_ENGINEERING Command sent to perform engineering acti...

Page 37: ...RESET Command sent to restore the working settings to defaults store them into permanent memory and apply them Calibration Messages 0x20 CID_CAL_ACTION Command sent to perform specific calibration act...

Page 38: ...ransmit a PING message 0x41 CID_PING_REQ Message sent when a PING request is received 0x42 CID_PING_RESP Message sent when a PING response is received or timeout occurs with the echo response data 0x4...

Page 39: ...END Message sent to transmit a datagram to another beacon 0x61 CID_DAT_RECEIVE Message generated when a beacon receives a datagram 0x63 CID_DAT_ERROR Message generated when a beacon response error tim...

Page 40: ...and state of a socket 0x75 CID_DEX_SEND Command sent to initiate a transfer of data pending on the specified socket 0x76 CID_DEX_SOCKETS Command sent to retrieve a list of open sockets on the beacon a...

Page 41: ...a command or operation cannot be completed 0x03 CST_EEPROM_ERROR Returned if an error occurs while reading or writing EEPROM data Command Processor Status Codes 0x04 CST_CMD_PARAM_MISSING Returned if...

Page 42: ...ge has not been received within the expected time 0x34 CST_XCVR_RESP_TIMEOUT Returned if the transceiver has sent a request message to a beacon but no response has been returned within the allotted wa...

Page 43: ...urned by the DEX protocol handler when data transfer synchronisation has been lost with the socket master 0x74 CST_DEX_RX_MSG_ERROR Returned by the DEX protocol handler to indicate an unexpected acous...

Page 44: ...cond 1Hz intervals 0x2 STATUS_MODE_2HZ5 Status output message are not generated at 0 4 second 2 5Hz intervals 0x3 STATUS_MODE_5HZ Status output message are not generated at 0 2 second 5Hz intervals 0x...

Page 45: ...Identifier for the beacon that generated or sent the message MSG_TYPE AMSGTYPE_E Value that indicates the type of message being sent MSG_DEPTH UINT16 Value that is only valid when MSG_TYPE is MSG_RES...

Page 46: ...e beacon that sent the data Valid values are form 1 to 15 FLAGS UINT8 A bit field of flags used to indicate what the rest of the record contains Bit values are Bit 7 5 RESERVED These bits are reserved...

Page 47: ...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...

Page 48: ...nal 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 ar...

Page 49: ...magnetic heading Values are encoded in decimetres so divide by 10 for a value in metres POSITION_DEPTH INT16 The vertical Depth distance component of the remote beacon from the surface computed from...

Page 50: ...1000 Default value is 270 ACC_MAX_X INT16 The accelerometer X axis sensor value that corresponds to 1G of gravitational force Valid values lie in the range 1000 to 1000 Default value is 270 ACC_MAX_Y...

Page 51: ...Z FLOAT The magnetometer Z axis sensor scaling value to compensate for Soft Iron effects Valid values lie in the range 10 to 10 Default value is 1 MAG_FIELD FLOAT The normalised not actual magnetic fi...

Page 52: ...valid and allowed to execute PART_NUMBER UINT16 The part number of the Bootloader firmware VERSION_MAJ UINT8 The major version number of the firmware when expressed in the form Version major minor bu...

Page 53: ...mber of the beacon FLAGS_SYS UINT16 Additional flags field defining factory set hardware capabilities and features Currently reads as 0 reserved for future use FLAGS_USER UINT16 Additional flags field...

Page 54: ...uint8 Bytes 4 Parameter Type Description BYTES UINT8 4 The 4 IP address fields in reverse order to the writing convention i e byte3 byte2 byte1 byte0 Or Union ADDR UINT32 Little Endian representation...

Page 55: ...UINT64 type but uses a union to allow overlaying with a 6 byte sequential array In C this definition could be represented as struct MacAddr_T union uint64 Addr uint8 Bytes 6 Parameter Type Description...

Page 56: ...as 0 s Bit 3 QRY_ATTITUDE When set a NAV_QUERY_SEND command will request that attitude information is sent back and a NAV_QUERY_RESP will contain attitude data fields Bit 2 QRY_TEMP When set a NAV_QUE...

Page 57: ...it values are Bits 7 3 RESERVED Reserved for future use treat as 0 s Bits 2 0 STATUS_MODE Specifies how often periodic status output messages are generated Mask and then treat as a STATUSMODE_E value...

Page 58: ...pressure temperature supply voltage etc Bit values are Bits 7 2 RESERVED Reserved for future use Bit 1 AUTO_PRESSURE_OFS When this flag is true the pressure offset is automatically chosen using the m...

Page 59: ...of 345 represents 34 5 ppt so divide this value by 10 to obtain a value in ppt Typically a value of 0 represents fresh water while 350 35ppt represents average sea water Values are valid in the range...

Page 60: ...ncoded as deci degrees so divide the value by 10 to obtain a value in degrees Valid values are cyclically wrapped to the range 0 to 359 9 AHRS_PITCH_OFS UINT16 A fixed attitude pitch offset that is ap...

Page 61: ...Bit 1 XCVR_POSFLT_ENABLE When this flag is true the position filter is enabled to mark potentially erroneous acoustic USBL fixes based on velocity and angular movement limits Bit 0 USBL_USE_AHRS When...

Page 62: ...transceiver attitude this value is used as the manually specified yaw attitude from which relative positions of remote beacons to the local beacon are computed Attitudes are applied in the position ca...

Page 63: ...position error XCVR_POSFLT_ANG UINT8 For beacons that are further away azimuth errors start to come into play This value defines the angular limits that beacons can move or position jitter within with...

Page 64: ...et appends raw sensor data fields to the end of the status output message Bit 3 ACC_CAL When set appends accelerometer calibration and limits fields to the end of the status output message Bit 2 MAG_C...

Page 65: ...at can be periodically sent to the beacon to determine if the hardware is present connected and functioning For example a host system sending the CID_SYS_ALIVE command at regular intervals can use the...

Page 66: ...Parameter Type Description MSG_ID CID_E Command identification code CID_SYS_INFO SECONDS UINT32 The number of seconds the beacon has been powered up for SECTION UINT8 The memory section that the curr...

Page 67: ...will be applied Human readable power up diagnostic information is output from the serial port The beacon is ready to receive further commands Command Message Parameters Parameter Type Description MSG_...

Page 68: ...rial Command Interface Reference Page 68 7 1 4 CID_SYS_ENGINEERING The CID_SYS_ENGINEERING command is used for factory commissioning diagnostic and debugging purposes that lie outside the scope of thi...

Page 69: ...rmat 2 Length 157552 Checksum 4DBF60E9 Signature 685CBFB440C6F3F8EF05CA43B74E3134D7C92C23 Data Block 0 Length 64 01DB3154998D1DFF0123BC00 67F9FFAE Data Data Block 1 Length 64 A91BAF09C059040E6083238A...

Page 70: ...ode from the firmware FWX file provided by Blueprint The beacon will examine these parameters and determine if the firmware file is applicable to it and if it is ready to accept the update Command Mes...

Page 71: ...d to indicate if the command executed successfully Valid values are CST_OK The command was performed successfully and the device is ready to accept further CID_PROG_BLOCK commands CST_CMD_PARAM_MISSIN...

Page 72: ...LENGTH UINT16 The number of bytes that will follow in this message DATA UINT8 x An array of data bytes read from the relevant DATA node in the FWX file where x is the number of bytes specified by DATA...

Page 73: ...SeaTrac Serial Command Interface Reference Page 73 firmware storage available CST_FAIL An unspecified firmware error has occurred...

Page 74: ...CID_PROG_UPDATE Response Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_PROG_UPDATE STATUS CST_E Status code used to indicate if the command executed succe...

Page 75: ...ld of either the CID_SETTINGS_SET or CID_STATUS_CFG_SET commands When issued as a manual status request command an optional STATUS_OUTPUT value can be specified in the CID_STATUS message to determine...

Page 76: ...00 for a value in Volts ENV_TEMP INT16 The temperature of air water in contact with the diaphragm of the pressure sensor Values are encoded in deci Celsius so divide by 10 to obtain a value in Celsius...

Page 77: ...0 to obtain a value in degrees Magnetometer Calibration and Status Fields If the message STATUS_OUTPUT parameter contains the MAG_CAL bit see STATUS_BITS_T then the following fields are sequentially a...

Page 78: ...sensor axis ACC_LIM_MIN_Z INT16 Value that holds the raw accelerometer sensor value that will be used to represent 1G on the Y sensor axis ACC_LIM_MAX_X INT16 Value that holds the raw accelerometer se...

Page 79: ...lue and the 1G to 1G interval specified by the ACC_LIM_MIN_Z and ACC_LIM_MAX_Z values gives the current gravitation acceleration seen on the sensor axis AHRS_RAW_MAG_X INT16 The last raw magnetometer...

Page 80: ...e calibration coefficients have been applied AHRS_COMP_ACC_Y FLOAT The AHRS_RAW_ACC_Y sensor reading after the calibration coefficients have been applied AHRS_COMP_ACC_Z FLOAT The AHRS_RAW_ACC_Z senso...

Page 81: ..._GET Command Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_STATUS_CFG_GET Response Message Parameters Parameter Type Description MSG_ID CID_E Command ident...

Page 82: ..._SET Command Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_STATUS_CFG_SET STATUS_OUTPUT STATUS_BITS_T A bit mask specifying which information should be inc...

Page 83: ...command See the SETTINGS_T structure definition for details of which settings are only applied on power up reboot The EEPROM memory used to permanently store the settings information in the beacon ha...

Page 84: ...and Not all settings will be applied after the set command is issued Specifically communication baud rate settings will only be applied when the device is next power up or a CID_SYS_REBOOT command is...

Page 85: ...device is next power up or a CID_SYS_REBOOT command is issued See the SETTINGS_T structure definition for details of which settings are only applied on power up reboot Command Message Parameters Para...

Page 86: ...ed infrequently and when needed i e not on a periodic basis that may reduce operating life If the communications baud rate settings are accidentally changed saved and the device rebooted it may not be...

Page 87: ...that may reduce operating life Not all settings will be applied after the load operation completes Specifically communication baud rate settings will only be applied when the device is next power up o...

Page 88: ...ge Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_AHRS_CAL_SET ACTION CAL_ACTION_E The code of the calibration action that should be performed See below for further...

Page 89: ...PROM memory CAL_MAG_DEFAULTS This action sets the current magnetometer calibration values for Hard and Sort Iron back to their default values but does not clear the Magnetic Calibration Buffer CAL_MAG...

Page 90: ...eved As an alternative to this command use CID_SETTINGS_GET Command Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_AHRS_CAL_GET Response Message Parameters...

Page 91: ...SAVE command As an alternative to this command use CID_SETTINGS_SET Command Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_AHRS_CAL_SET AHRS_CAL AHRSCAL_T T...

Page 92: ...es found in the subsequent sections of this document 7 6 1 CID_XCVR_ANALYSE The CID_XCVR_ANALYSE command is sent to instruct the transceiver to perform a background noise analysis of the receiver and...

Page 93: ...of the beacon hardware RX_LEVEL_PKPK INT16 The peak to peak noise level observed on the receiver encoded in centibels To decode divide this value by 10 for decibels to a 0 1 dB resolution This is use...

Page 94: ...on at any time not in response to a command message depending on protocol handlers or acoustic activity triggering a transceiver event This message is generated only when the XCVR_DIAG_MSGS flag is sp...

Page 95: ...de used to indicate if the command executed successfully Valid values are CST_XCVR_ID_REJECTED The transceiver has received a message with a destination ID that does not match its own so the message w...

Page 96: ...etes reception the Flags field won t indicate valid range USBL signal or position For errors above marked with no RSSI level will be available as the error isn t triggered by direct reception of an ac...

Page 97: ...sage that may be sent by the beacon at any time not in response to a command message depending on acoustic activity triggering a transceiver event This message is generated only when the XCVR_DIAG_MSG...

Page 98: ...message that may be sent by the beacon at any time not in response to a command message depending on acoustic activity triggering a transceiver event This message is generated only when the XCVR_DIAG_...

Page 99: ...t by the beacon at any time not in response to a command message depending on acoustic activity triggering a transceiver event This message is generated only when the XCVR_DIAG_MSGS flag is specified...

Page 100: ...essage is a status message that may be sent by the beacon at any time not in response to a command message depending on acoustic activity triggering a transceiver event This message is generated only...

Page 101: ...tions link may degrade the performance of the beacon Status Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_XCVR_USBL XCOR_SIG_PEAK FLOAT The magnitude of th...

Page 102: ...of USBL receiver elements where x is the value defined by the BASELINES field SIGNAL_AZIMUTH INT16 The incoming signal azimuth angle from 0 to 360 Values are encoded as deci Degrees so divide by 10 f...

Page 103: ...s available in the fix message Messages with the MSG_RESPX type also contain an additional field specifying the depth of the remote beacon From this information an enhanced vertical position fix can b...

Page 104: ...on MSG_ID CID_E Command identification code CID_XCVR_STATUS STATUS CST_E Status code used to indicate if the command executed successfully Valid values are CST_XCVR_STATE_STOPPED Indicates the transce...

Page 105: ...other beacons and obtain range and position values for the remote pinged beacon Unlike other protocols PING messages do not carry any payload information making them the shortest messages possible Th...

Page 106: ...nal levels see section 7 6 on page 92 for further details Command Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_PING_SEND DEST_ID BID_E The ID code of the...

Page 107: ...ommand executed successfully Valid values are CST_OK The PING command is being sent CST_CMD_PARAM_INVALID The DEST_ID parameter is invalid CST_CMD_PARAM_MISSING The DEST_ID has not been specified corr...

Page 108: ...ription MSG_ID CID_E Command identification code CID_PING_REQ ACO_FIX ACOFIX_T A Fix structure containing information relating to signal from the beacon sending data This will not contain range or pos...

Page 109: ...tion MSG_ID CID_E Command identification code CID_PING_ERROR STATUS CST_E Status code indicating the error that occurred Valid values are CST_XCVR_RESP_TIMEOUT A valid response message was not receive...

Page 110: ...tion to be determined If successful the CID_ECHO_SEND command will start an acoustic message transmission and at some time later an acoustic response will be heard The ECHO protocol handler will gener...

Page 111: ...depth sensor information included to enhance the depth position fix ECHO_LEN UINT8 The number of bytes to send in the Echo acoustic packet Valid values are from 0 to 31 ECHO_DATA UINT8 x The array of...

Page 112: ...t by the beacon at any time not in response to a command message depending on acoustic activity triggering a transceiver event Status Message Parameters Parameter Type Description MSG_ID CID_E Command...

Page 113: ...beacon at any time not in response to a command message depending on acoustic activity triggering a transceiver event Status Message Parameters Parameter Type Description MSG_ID CID_E Command identifi...

Page 114: ...ption MSG_ID CID_E Command identification code CID_ECHO_ERROR STATUS CST_E Status code indicating the error that occurred Valid values are CST_XCVR_RESP_TIMEOUT A valid response message was not receiv...

Page 115: ...a timeout or other reception error occurring At either receiving end data is not buffered but output with a CID_DAT_RECEIVE message as it arrived again allowing system developers to handle the data i...

Page 116: ...ding DAT data be aware that larger quantities of data will take longer to send by 80ms per byte and during this time the receiver may become more susceptible to errors caused by Doppler shift or other...

Page 117: ...for the remote beacon will be available to the sender MSG_REQX As MSG_REQU but an enhanced USBL request is sent PACKET_LEN UINT8 The number of bytes to send in the DAT acoustic packet Valid values ar...

Page 118: ...equested ACK messages if required Beyond handling the data in the reported packet not further interaction is required with the external system user Status Message Parameters Parameter Type Description...

Page 119: ...n acoustic activity triggering a transceiver event Status Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_DAT_ERROR STATUS CST_E Status code indicating the e...

Page 120: ...CID_DATA_SEND command Requests received from other beacons will be ignored Valid values are form 0 to 15 A value of BEACON_ALL 0 indicates data is broadcast to the next interrogating beacon regardles...

Page 121: ...using the CID_DATA_QUEUE_SET command Command Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_DAT_QUEUE_CLR Response Message Parameters Parameter Type Descrip...

Page 122: ...sponse to this command and when the packet has been delivered this value is reported as 0 indicating empty and another packet can be queued Command Message Parameters Parameter Type Description MSG_ID...

Page 123: ...to this is when remote Depth information is requested then this value to 0 1m resolution is used for the Z axis depth fix If successful the CID_NAV_QUERY_SEND command will start an acoustic message tr...

Page 124: ..._ID CID_E Command identification code CID_NAV_QUERY_SEND STATUS CST_E Status code used to indicate if the command executed successfully Valid values are CST_OK The ECHO command is being sent CST_CMD_P...

Page 125: ...ernal system user is required This message is a status message that may be sent by the beacon at any time not in response to a command message depending on acoustic activity triggering a transceiver e...

Page 126: ...e beacon will return the depth to an resolution of 0 1m and use this value instead in the position fix as well as returning it in the REMOTE_DEPTH field and FIX structure Status Message Parameters Par...

Page 127: ...ed in deci Celsius so divide by 10 to obtain a value in Celsius Attitude Fields If the message QUERY_FLAGS parameter contains the QRY_ATTITUDE bit see NAV_QUERY_T then the following fields are sequent...

Page 128: ...ode indicating the error that occurred Valid values are CST_XCVR_RESP_TIMEOUT A valid response message was not received in the time allowed by the beacons Range Timeout setting indicating the remote b...

Page 129: ...identification code CID_NAV_REF_POS_SEND POSITION_LATITUDE INT32 The latitude part of the local beacons position used as the reference position from which relative Northing Easting Depth positions ar...

Page 130: ...Type Description MSG_ID CID_E Command identification code CID_NAV_REF_POS_UPDATE ACO_FIX ACOFIX_T A Fix structure containing information relating to signal from the beacon sending data This will not...

Page 131: ...hich are the reference point for Northing Easting Depth positions to be world referenced Command Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_NAV_BEACON_P...

Page 132: ...e by 10 and truncate as an integer Response Message Parameters Parameter Type Description MSG_ID CID_E Command identification code CID_NAV_BEACON_POS_SEND STATUS CST_E Status code used to indicate if...

Page 133: ...he beacon at any time not in response to a command message depending on acoustic activity triggering a transceiver event Response Message Parameters Parameter Type Description MSG_ID CID_E Command ide...

Page 134: ...o obtain a distance in metres POSITION_DEPTH INT16 The vertical Depth distance component of the beacon specified by BEACON_ID relative to the USBL head or sender of this message This value must be enc...

Page 135: ...d decoding of data streams Buffered sockets allowing links to be defined between beacon pairs and data placed onto the appropriate buffer ready for transfer Synchronised retry mechanism to track which...

Page 136: ...ese follow the same standard as those used to define aircraft attitudes and rotations allowing the right hand rule to be applied to each axis By orienting the positive Z axis downwards positive Yaw an...

Page 137: ...signals positive azimuths are defined as being a positive rotation around the yaw axis complying with the right hand rule Positive elevations are defined as being above the beacons horizontal plane de...

Page 138: ...lkhead Please note that to comply to the earlier attitude definition positive Z axis directions are defined as down towards the seabed when the beacon is mounted in the upright position shown above 9...

Page 139: ......

Page 140: ...Distributor www blueprintsubsea com Blueprint Subsea The Clock Tower Business Centre Low Wood Ulverston Cumbria LA12 8LY UK...

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