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SeaTrac Serial Command Interface Reference
Page 129
8.4.5. CID_NAV_REF_POS_SEND
The CID_NAV_REF_POS_SEND message is used to broadcast the reference position of the local
beacon (defined by Latitude and Longitude) to all other beacons capable of receiving the
message.
This message allows a USBL beacon forming part of an acoustic tracing system, to occasionally
transmit its own position as a world referenced coordinate to all other surrounding beacons.
If these beacons have been receiving position updates from the
CID_NAV_BEACON_POS_SEND
command, then the information sent here then allows them to compute their own (and other
beacons) world position from the previously transmitted relative NED co-ordinates (as the
latitude/longitude specifies the origin of the relative NED values).
Command Message Parameters
Parameter Type Description
MSG_ID CID_E Command identification code
(CID_NAV_REF_POS_SEND)
POSITION_LATITUDE INT32 The latitude part of the local beacons position, used
as the reference position from which relative
Northing/Easting/Depth positions are based.
This value must be encoded in milliseconds of arc
angle – i.e. value in degrees multiplied by 3600000.
POSITION_LONGITUDE INT32 The longitude part of the local beacons position,
used as the reference position from which relative
Northing/Easting/Depth positions are based.
This value must be encoded in milliseconds of arc
angle – i.e. value in degrees multiplied by 3600000.
Response Message Parameters
Parameter Type Description
MSG_ID CID_E Command identification code
(CID_NAV_REF_POS_SEND)
STATUS CST_E Status code used to indicate if the command
executed successfully.
Valid values are…
 CST_OK
The PING command is being sent.
 CST_CMD_PARAM_INVALID
The DEST_ID parameter is invalid.
 CST_CMD_PARAM_MISSING
The DEST_ID has not been specified correctly.
 CST_XCVR_BUSY
The message cannot be sent as the acoustic
transceiver is busy performing another operation.