34
Radian Motion Sensor
User Manual
Document Ref: UM-8041-C1
Issue: C - Rev 1
© Sonardyne International Limited 2007
7 Data Output Formats
In this section…
This section contains the following sub-sections:
7.1 “Introduction” beginning on page 34.
7.2 “Industry Standard Formats” beginning on page 34.
7.3 “NMEA 0183 Data Formats” beginning on page 36.
7.1 Introduction
Radian supplies measurements of heading, roll and pitch to receiving equipment
digitally using one of the available industry standard and NMEA data formats:
Industry standard
Simrad EM1000, and
TSS2.
NMEA 0183
$PRDID
$HCHDG
$HCHDM, and
$PHTRO.
7.2 Industry Standard Formats
Simrad EM1000
Fig 28 Simrad EM1000 data format
Description
This proprietary data format was developed for use with Simrad multibeam echo-
sounders. It is a 10-byte message of 16-bit 2’s complement numbers, each ex-
pressed as two binary-coded digits.
Notes
Motion measurements contained in the data string are in real time, valid for
the instant when Radian begins to transmit the string.
The data string has the ability to include heave measurements. However,
Radian does not output heave and this data field will always be zero.
Positive roll is port side up, starboard down.
Positive pitch is bow up, stern down.
This data string does not include a status flag.
Radian updates the heading field in the data string only when it receives new
heading information from the earth magnetic field sensor array. There may
therefore be a difference between the instantaneous heading and the value
included in the output string.
LSB
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
MSB
LSB
MSB
LSB
MSB
LSB
MSB
SYNCH
BYTE
1
(0x00)
MSB
SYNC
BYTE
2
(0x90)
LSB
Roll,
0
to
359.99°
units
of
0.01°
Pitch,
0
to
359.99°
units
of
0.01°
Heave,
+/
–
2
0
m
etres
units
of
1cm
Heading,
0
to
359.99°
units
of
0.01°
