INTERFACE SPECIFICATIONS
SeaBat 8160
Operator‟s Manual
Page 79
October 6, 2011
Version 5
<71> <11> <2f> <3d> <50> <e5> <60> <bd> <50> <e5> <60> <be> <50> <e5> <60> <3f> <9d> <f3> <b6> <cb>
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Roll
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Pitch
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Yaw
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PosMonD
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=0x3d50e560
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=0xbd50e560
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=0xbe50e560
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= 0x3f9df3b6
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V
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IEEE float
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IEEE float
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IEEE float
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IEEE float
| check
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-> 0.051 rad
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-> -0.051rad
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-> -0.204 rad
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-> 1.234m
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=> user selected token (associated with this configuration)
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=> length is 4 * sizeof(float) + 1 (token) = 4 * 4 + 1 = 17 = hex 11
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=>
header („q‟), replaced with „Q‟ when data is unstable (i.e. at startup).
Table 23: Seatex MRU Message Format
Field
Units
Format
Bytes
Value
Header
ASCII
1
ASCII 'q' or 'Q'
Length
Unsigned
1
0x11
Token
Unsigned
1
0 - 255
Roll
radians
Float
4
Pitch
radians
Float
4
Yaw
radians
Float
4
Heave
meters
Float
4
Checksum
Unsigned
1
0 - 255
C.3.4.5
Octans STD 1
Standard:
Output NMEA 0183 compatible
Data sent:
Heading, roll, pitch, position, linear speed, compensation values
and status
Data frame:
Syntax:
$HEHDT,x.xx,T*hh<CR><LF>
Parameters:
x.xx
= true heading in degrees
hh
= checksum
Syntax:
$PHTRO,x.xx,a,y.yy,b*hh<CR><LF>
