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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Format:
Element Columns Format
Header 1 - 3 UTC
Date 5 - 12 yy.mo.da
Time 14 - 21 hh:mm:ss
Fix type 23 digit or '?'
No. of satellites 24 digit or '?'
Term 25 - 26 CR-LF
yy.mo.da is year (00 - 99), month of year (01 - 12) and day of month (01 - 31). hh:mm:ss is
hours (00 - 23), minutes (00 - 59) and seconds (00 - 59). Fix type is "5" for 3D fix with
accurate time, "?" for no fix (time from receiver clock). No. of satellites is "1" - "8" for 1 - 8
satellites tracked, "9" for 9 or more satellites tracked, "?" for no fix (time from receiver
clock).
Columns between elements are filled with spaces.
6.12 Atlas Fansweep format
The Atlas format is a proprietary binary format used for outputting data to Atlas Fansweep
echo sounders. It consists of a fixed-length message using single-byte and 2-byte two-
complement integer data elements. For the 2-byte elements, most significant byte is
transmitted first.
Format:
Element Scaling Format Bytes Value
Start byte Integer 1 10 Hex
Roll 2
14
= 90 degrees Integer 2
Pitch 2
14
= 90 degrees Integer 2
Heave millimetres Integer 2
Status byte Integer 1
Stop byte Integer 1 10 Hex
Roll is positive with port side up. Pitch is positive with bow up. Heave is positive up.
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
Atlas Euler Euler
= ⋅
arcsin sin( ) cos( )