Kongsberg Seapath 320, Installation Manual, Page: 121 / 152

Installation Manual
M300-62/rev.2 105
roll roll pitch
echo sounder Euler Euler
arcsin sin( ) cos( )
A.13 Binary format 23
This binary format consists of a fixed-length message using 1-, 2- and 4-byte signed and
unsigned integers. The signed integers are represented as two-complement numbers. For
the multi-byte elements, the most significant byte is transmitted first. The total number
of bytes is 44.
Format:
Element Scaling Format Bytes Value
Header Unsigned 1 AA Hex
Header Unsigned 1 51 Hex
Time, seconds Seconds Integer 4
Time, fraction of second 0.0001 second Unsigned 2 0 to 9999
Latitude 2
30
= 90 degrees Integer 4 -2
30
to 2
30
Longitude 2
30
= 90 degrees Integer 4 -2
31
to 2
31
Height Centimetres Integer 4
Heave Centimetres Integer 2
North velocity Centimetres/second Integer 2
East velocity Centimetres/second Integer 2
Down velocity Centimetres/second Integer 2
Roll 2
14
= 90 degrees Integer 2 -2
15
to 2
15
Pitch 2
14
= 90 degrees Integer 2 -2
15
to 2
15
Heading 2
14
= 90 degrees Unsigned 2 0 to 2
16
Roll rate 2
14
= 90 degrees/second Integer 2 -2
15
to 2
15
Pitch rate 2
14
= 90 degrees/second Integer 2 -2
15
to 2
15
Yaw rate 2
14
= 90 degrees/second Integer 2 -2
15
to 2
15
Status word Bit-fields 2
Checksum Unsigned 2