Kongsberg Seapath 320, Installation Manual, Page: 112 / 152

Seapath 320
96 M300-62/rev.2
vertical-
vel
Vertical velocity in metres per second on format d.dd. Positive when moving
downwards.
event Event code: 1 = system restart.
csum Checksum (exclusive or) of all characters between, but not including, the
preceding
$ and * , hexadecimal (00 - FF).
term CR-LF (2 bytes, values 13 and 10).
The ZDA, GGA, GLL, VTG, HDT, GST, GSA, GRS, PSXN 20, 21, 22 and 23
messages are output regularly at an adjustable rate. If gyro calibration data are not being
calculated, the PSXN, 22 message is not output. The PSXN, 21 message is output once
when an event occurs.
A sub set of the available NMEA messages can be configured individually for each
serial line.
A.2 Binary format 3
This binary format consists of a fixed-length message using single-byte unsigned, 4-
byte two-complement integer and 4-byte IEEE floating point data elements. For the
multi-byte elements, the most significant byte is transmitted first.
Format:
Element Scaling Format Bytes Value
Header ASCII 1 ASCII "q"
Length Unsigned 1 49
Token Unsigned 1 0 - 255
Time nanoseconds Integer 4 0 - 999999999
Latitude 2
30
= 90 degrees Integer 4 -2
30
- 2
30
Longitude 2
30
= 90 degrees Integer 4 -2
31
- 2
31
Height metres Float 4
Heave metres Float 4
North velocity metres/second Float
4
East velocity metres/second Float 4
Down velocity metres/second Float 4
Roll radians Float 4
Pitch radians Float 4