Interface Specification Document
•
Seatex MRU
The binary format
{
xe "binary format"
}
consists of a fixed-length message using single-byte
unsigned and 4-byte IEEE floating point data elements. For the multi-byte elements, the most
significant byte is transmitted first.
Note:Each <> indicates one byte of data.
<71><11><2f><3d><50><e5><60><bd><50><e5><60><be><50><e5><60><3f><9d><f3><b6><cb>
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Roll
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Pitch
||
Yaw ||
PosMonD | |_ check
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= 0x3d50e560 || = 0xbd50e560 || = 0xbe50e560 || = 0x3f9df3b6 |
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IEEE float
|| IEEE float
|| IEEE float
|| IEEE float
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-> 0.051 rad
|| ->-0.051 rad
|| ->-0.204 rad
|| -> 1.234 m |
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|__ user selected token (associated with this configuration)
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|__ length is 4 * sizeof(float) + 1 (token) = 4* 4 + 1 = 17 = hex 11
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|__ header ('q'),replaced with 'Q' when data is unstable (i.e. at startup).
Format:
Field Units
Format
Bytes Value
Header
ASCII
1
ASCII 'q' or 'Q'
Length
Unsigned
1 0x11
Token
Unsigned
1
0 - 255
Roll radians
Float 4
Pitch radians
Float 4
Yaw radians
Float 4
Heave meters
Float 4
Checksum
Unsigned
1
0 - 255
______________________________________________________________________
SeaBat 8101 Operator's Manual
6-24
(ISD Rev 1.23) Version 3.02
