iXBlue GAPS, User Manual

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GAPS
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User Guide
I.12 HIPAP HPR 418 (fix and mobile)
Please refer to the Kongsberg document HPR418BCD_revC.doc.
Transponder position message: the frame contains 32 bytes in binary format.
Example: X=1234.56 m Y=-987.65 m Depth 1234.5 m Heading 59.9° Pos. to ROV 15.
The difference between the mobile and fixed protocols is made in the Byte 3 Bit 5. The bit is
equal to 1 in the mobile case and 0 in the fixed case.
Message
Byte 0 0xDF Start of message
Byte 1 0x01
Head byte
1- SSBL position
Byte 2 0xSS
Status Byte 1
Bit 0: Position Measurement OK
Bit 1: Position measurement filtered
Bit 2: Position measurement predicted (always 0 for USBL-BOX)
Bit 3: Optional data SSBL OK (pressure sensor only for USBL-BOX TP)
Bit 4-6: Always 0
Bit 7: Transceiver error (opposite of Bit 0)
Byte 3 0x20
Status Byte 2
Bit 0-1: Transducer number (MSB s/n USBL-BOX)
Bit 2-3: Transceiver number (LSB s/n USBL-BOX)
Bit 4: Training mode (always 0 for USBL-BOX)
Bit 5: Mobil TP (SSBL) Rov TP (LBL) (0 fixed, 1 mobile)
Bit 6: LBL co-ordinates in UTM (always 0 for USBL-BOX)
Bit 7: Master 0, Slave 1 (always 0 for USBL-BOX)
Byte 4 0x01
TP. Inf.
0 - TP (Transponder)
1 - Depth TP Optional Data 1
2 - Inclinometer TP Optional Data 1&2 /* not used here
3 - Diff.in.TP Optional Data 1&2 /*not used here
4 - Compass TP Optional Data 1 /* not used here
5 - Acoustic control transponder /* not used here
6 - Beacon /* not used here
7 - Depth Beacon /* not used here
10 - Responder driver 1 /* not used here
13 - Responder driver 4
Byte 5
Byte 6
0x00
0xTT
TP ID
From 1 to 127
Byte 7 0xsY
X position
s = 0 if Y positive (X HIPAP)
202 MU-GAPS-AN-005-H - November 2019