Kongsberg Seatex Seapath 200, Руководство по установке

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Seatex Seapath 200 Installation Manual, rev. 13 Appendix B – Output protocols from Seapath
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Element Scaling Format Bytes Value
Roll radians Float 4
Pitch radians Float 4
Heading radians Float 4 0 - 2 pi
Status word Bit-fields 4
Checksum Unsigned 1 0 - 255
Length is number of bytes between, but not including, the Length and Checksum fields.
Checksum is calculated modulo 256 of all bytes between, but not including, the Length and
Checksum fields. The contents of the Token field is adjustable. Latitude is positive north of
the Equator. Longitude is positive east of Greenwich. Height is above the ellipsoid. Heave is
positive down. Roll is positive with port side up. Pitch is positive with bow up.
The status word consists of 32 single bit flags numbered from 0 to 31, where 0 is the least
significant bit. A 1 value (true) means:
Bit no. Interpretation
0 Reduced horizontal position and velocity performance.
1 Invalid horizontal position and velocity data.
2 Reduced heave and vertical velocity performance.
3 Invalid heave and vertical velocity data.
4 Reduced roll and pitch performance.
5 Invalid roll and pitch data.
6 Reduced heading performance.
7 Invalid heading data.
The remaining bits in the status word are reserved for future expansion.
6.3 Binary format, Simrad EM1000/950 compatible
The Simrad EM1000 format consists of a fixed-length message using single-byte unsigned, 2-
byte unsigned and 2-byte two-complement integer data elements. For the 2-byte elements, the
least significant byte is transmitted first.
Format:
Element Scaling Format Bytes Value
Header Unsigned 1 00 Hex
Header Unsigned 1 90 Hex
Roll 0.01 degrees Integer 2 -17999 to 17999
Pitch 0.01 degrees Integer 2 -17999 to 17999
Heave 1 cm Integer 2 -999 to 999
Heading 0.01 degrees Unsigned 2 0 to 35999