Kongsberg Seatex Seapath 200, Installation Manual

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Seatex Seapath 200 Installation Manual, rev. 13 Appendix B – Output protocols from Seapath
53
gyro-calib
Gyro calibration value since system start-up in degrees on format d.dd.
gyro-offs
Short-term gyro offset in degrees on format d.dd.
roll
Roll in degrees on format d.dd. Positive with port side up.
pitch
Pitch in degrees on format d.dd. Positive with bow up.
heave
Heave in metres on format d.dd. Positive down.
roll-rate
Roll rate in degrees per second on format d.dd. Positive when port side is
moving upwards.
pitch-rate
Pitch rate in degrees per second on format d.dd. Positive when bow is moving
upwards.
yaw-rate
Yaw rate in degrees per second on format d.dd. Positive when bow is moving
towards starboard.
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, PSXN,22 and PSXN,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.
6.2 Binary format 3
The 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