Kongsberg Seatex Seapath 200, Руководство по установке

Страница: 76 / 130

Seatex Seapath 200 Installation Manual, rev. 13 Appendix B – Output protocols from Seapath
62
Format:
Element Bytes Max. value Min. value
Start byte 1
Status byte 1
Unused 2
Heading 2 360 deg 0 deg
Roll 2
π
rad -
π
rad
Pitch 2
π
rad -
π
rad
Heading 2 360 deg 0 deg
Roll rate 2 5 rad/s -5 rad/s
Yaw rate 2 5 rad/s -5 rad/s
Heave 2 1000 m -50 m
Vertical velocity 2 10 m/s -10 m/s
Unused 5
Checksum 1
The scale of the unsigned integers is such that the minimum value is output as 0 and the
maximum value is output as 65535 (FFFF Hex).
Roll is positive with port side up. Pitch is positive with bow up. Heave and vertical velocity
are positive down.
The start byte is ASCII ":". Unused elements are output as 0. The checksum byte is calculated
as a sum modulo 256 of all bytes transmitted excluding the checksum byte.
The status byte indicates the heave, roll/pitch and heading status using the following ASCII
values:
Value Heave Roll/pitch Heading
"A" N N N
"B" R N N
"C" N R N
"D' N N R
"E" R R N
"F" R N R
"G" N R R
"H" R R R
"b" I NR NR
"c" NR I NR
"d" NR NR I
"e" I I NR
"f" I NR I
"g" NR I I
"h" I I I