Kongsberg Seatex Seapath 200, Руководство по установке

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Seatex Seapath 200 Installation Manual, rev. 13 Appendix B – Output protocols from Seapath
61
The status byte can have the following values:
Value Interpretation
6 Normal.
7
Reduced performance or invalid data.
6.13 Echo sounder format 18
The echo sounder format is a proprietary ASCII text format with fixed-length records used
when connecting Seabeam and other echo sounders.
Format:
Element Columns Scaling Format
Header 1 - 7 :000000
Heave 9 - 13 1 cm sdddd
Warning 14 "F" or "f"
Roll 15 - 19 0.01 degree sdddd
Pitch 21 - 25 0.01 degree sdddd
Term 26 - 27 CR-LF
Heave is positive up. Roll is positive with port side up. Pitch is positive with bow up.
The zeroes in the header occupy the columns used for acceleration when this format is output
from other systems. Seapath does not output acceleration.
s is the sign character, space if positive and "-" if negative. dddd is a decimal number with
leading zeroes where appropriate. The warning character is "F" if data are normal, "f" if data
are invalid or of reduced quality.
Columns between elements are filled with spaces.
The definition of the attitude angles in this format is different from the Euler angles definition
used elsewhere. The difference appears in the roll angle, where
[ ]
roll roll pitch
echo sounder Euler Euler
−
= ⋅
arcsin sin( ) cos( )
6.14 Submetrix format
The Submetrix format is a proprietary binary format used for outputting data to Submetrix
equipment. It consists of a fixed-length message using single-byte and 2-byte unsigned
integer data elements. For the 2-byte elements, the most significant byte is transmitted first.