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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The zeroes in the header occupy the columns used for acceleration when this format is output
from other systems. Seapath does not output acceleration.
s is the sign character, space if positive and "-" if negative. dddd is a decimal number with
leading zeroes where appropriate. The warning character is space if data are normal, "?" if
data are invalid or of reduced quality.
Columns between elements are filled with spaces.
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
echo sounder Euler Euler
−
= ⋅
arcsin sin( ) cos( )
6.7 RDI ADCP format
The RDI format is a proprietary ASCII text format used when connecting RDI ADCP
equipment.
Format:
$PRDID,pitch,roll,head term
Explanation:
pitch
Pitch, degrees on format sddd.dd. s is the sign character, "+" or "-". ddd.dd is a
decimal number with leading zeroes where appropriate. Positive with bow up.
roll
Roll, degrees on format sddd.dd. s is the sign character, "+" or "-". ddd.dd is a
decimal number with leading zeroes where appropriate. Positive with port side up.
head
Heading, degrees true on format ddd.dd, with leading zeroes where appropriate.
term
CR-LF (2 bytes, values 13 and 10).
6.8 Binary format 11
The 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
42.
Format:
Element Scaling Format Bytes Value
Header ASCII 1 ASCII "q"
Time, seconds seconds Integer 4
Time, fraction of second 0.01 second Unsigned 1 0 - 99
Latitude 2
30
= 90 degrees Integer 4 -2
30
- 2
30
Longitude 2
30
= 90 degrees Integer 4 -2
31
- 2
31
Height centimetres Integer 4