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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Element Scaling Format Bytes Value
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
- 2
15
Pitch 2
14
= 90 degrees Integer 2 -2
15
- 2
15
Heading 2
14
= 90 degrees Unsigned 2 0 - 2
16
Roll rate 2
14
= 90 degrees/second Integer 2 -2
15
- 2
15
Pitch rate 2
14
= 90 degrees/second Integer 2 -2
15
- 2
15
Yaw rate 2
14
= 90 degrees/second Integer 2 -2
15
- 2
15
Status word Bit-fields 2
Checksum Unsigned 2
Checksum is calculated as a 16-bit Block Cyclic Redundancy Check of all bytes between, but
not including the Header and Checksum fields. The CRC algorithm is described in a separate
section. Time is divided in an integer seconds part and a fractional second part. The integer
seconds part of time is counted from 1970-01-01 UTC time, ignoring leap seconds. Latitude is
positive north of the Equator. Longitude is positive east of Greenwich. Height is above the
ellipsoid. Heave is positive down. Roll is positive with port side up. Pitch is positive with
bow up.
The status word consists of 16 single bit flags numbered from 0 to 15, where 0 is the least
significant bit. A 1 value (true) means:
Bit no. Interpretation
0 Reduced horizontal position and velocity performance.
1 Invalid horizontal position and velocity data.
2 Reduced heave and vertical velocity performance.
3 Invalid heave and vertical velocity data.
4 Reduced roll and pitch performance.
5 Invalid roll and pitch data.
6 Reduced heading performance.
7 Invalid heading data.
The remaining bits in the status word are reserved for future expansion.