O C E A N S E R V E R C O M P A S S M A N U A L
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Format Type 0x01: “$C” format
$Chhh.hPpp.pRrr.rTtt.tMx0.000My0.000Mz0.000Ax000.0Ay000.0Az000.0*cc
$C212.4P2.5R-14.0T28.4Mx107977.90My-79422.00Mz173.27Ax0.045Ay-
0.245Az0.977*3A
This sentence format provides a text tag in front of each data type so the user program
can parse them accurately regardless of which data elements are activated. In effect
every data element has leads with its unique name.
Possible fields reported in the sentence (use the <esc>Xnnnnn<space> command to
configure the desired fields for output.
Hhh.h Heading in degrees, corrected for Declination if one is entered
Ppp.p: Pitch angle, “P” precedes the pitch angle in degrees
Rrr.rr Roll angle, “R” precedes the roll angle in degrees
Ttt.t: Temperature of the compass board, crude measure taken from the core
microprocessors internal sensor. Used for relative measurements of environments not
accurate. We provide a single point calibration offset using the <esc>+ command.
Standard Factory Format for OS5000-S, OS5000-US or OS5000-T
The standard setting below is <esc>*1<space> command
Example: $C320.5P0.2R-18.3T19.0*3C
Mx,My,Mz Magnetic field strength reported on each sensor. The units are calibrated to
milliguass by the user setting the local horizontal field strength before a full calibration.
Ax,Ay,Az Acceleration measured on all three sensors. The units are in “G” for each
sensor. You can also output the vector length (acceleration scalar) which will be close
to 1G
*cc This is the end of line character, the cc is the HEX X-OR sum of the characters
between the $ and the *. This is the NMEA standard format.
OS5500-USG Example: $C328.3P28.4R-12.4T21.1D21.01*<checksum> <cr><lf>
•
Compass heading: 328.3 degrees
•
Pitch angle: 28.4 degrees
•
Roll angle: -12.4 degrees
