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SeaTrac Serial Command Interface Reference
Page 106
8.1.1. CID_PING_SEND
The CID_PING_SEND command is issued to perform an acoustic “ping” on another beacon,
from which its range and position can be determined.
For positioning, acoustic PING messages are the shortest of all the protocols available,
requiring the least power consumption on the transmitter and allowing the fastest operation
when polling round a network.
If successful, the CID_PING_SEND command will start an acoustic message
transmission, and at some time later an acoustic response will be heard.
The PING protocol handler will generate subsequent serial message to signal when
these event occur.
Additionally acoustic transceiver diagnostic messages are available to monitor activity
and obtain further information on the received signal levels – see section 7.6 on page
92 for further details.
Command Message Parameters
Parameter Type Description
MSG_ID CID_E Command identification code (CID_PING_SEND)
DEST_ID BID_E The ID code of the beacon to send the Ping to, and
receive position and ranging information for.
Valid values are form 1 to 15.
MSG_TYPE AMSGTYPE_E Value specifying the type of data message that
should be sent
Valid values are…
 MSG_REQ Data is sent as a request message, but no USBL
information is required.
As no USBL signal information is transmitted, but a
response is returned, ranging information will be
available for the remote beacon.
 MSG_REQU Data is sent as a request message and a USBL
signal is required.
As both USBL signal information and a response is
returned by the remote beacon, positioning and
range information for the remote beacon will be
available to the sender.
 MSG_REQX As MSG_REQU but an enhanced USBL request is
sent (i.e. remote depth sensor information included
to enhance the depth position fix).