Kongsberg Seatex Seapath 200, Installation Manual

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Seatex Seapath 200 Installation Manual, rev. 13 Appendix B – Output protocols from Seapath
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Roll is positive with port side up. Pitch is positive with bow up. Heave is positive up. Invalid
data are indicated by values outside the specified ranges.
The definition of the attitude angles in this format is different from the Euler angles definition
used elsewhere. The difference appears in the roll angle, where
roll roll pitch
EM Euler Euler
1000
= ⋅
arcsin sin( ) cos( )
6.4 Binary format, Simrad EM3000, EM300 and HiPap
compatible
The Simrad EM3000 format consists of a fixed-length message using single-byte unsigned, 2-
byte unsigned and 2-byte two-complement integer data elements. For the 2-byte elements, the
least significant byte is transmitted first.
Format:
Element Scaling Format Bytes Value
Status byte Unsigned 1
Header Unsigned 1 90 Hex
Roll 0.01 degrees Integer 2 -17999 to 17999
Pitch 0.01 degrees Integer 2 -17999 to 17999
Heave 1 cm Integer 2 -999 to 999
Heading 0.01 degrees Unsigned 2 0 to 35999
Roll is positive with port side up. Pitch is positive with bow up. Heave is positive up.
The status byte can have the following values:
Value Interpretation
90 Hex Normal.
91 Hex Reduced performance.
A0 Hex Invalid data.
Invalid data are also indicated by values outside the specified ranges. When the status is A0,
the values which are within specified ranges can be assumed to have valid, but reduced
quality.