Sentinel V SC and RT Operation Manual
September
2017
EAR-Controlled Technology Subject to Restrictions Contained on the Cover Page.
Page 219
Expert Environmental Command Descriptions
#EE 0 ------------------- 1=Nominal, 0=Raw Beam Calculation
#EF 11 ------------------ Heading reference frame, [1=ship, 0=instr]
#EI +00000 -------------- Roll Misalignment Angle [.01 deg cw]
#EJ +00000 -------------- Pitch Misalignment Angle [.01 deg cw]
#E? --------------------- Display #E Expert Command Menu
#EI - Roll Misalignment Angle
Purpose
Corrects for a physical roll-like misalignment between the x-axis of the instrument and the
ship’s starboard axis.
Format
#EI±nnnnn
The #EI command must be sent with the # sign.
Range
±nnnnn = -17999 to 18000 1/100ths of a degree
Default
#EI0
Set as needed.
Description #EI is a rotation about the ship’s forward axis. It is defined as the roll of the ship when the
instrument is level.
For systems that have a roll source referenced to ship coordinates (typical for vehicles), use
#EI to set the amount of rotation that the instrument’s x-axis is physically offset from the
ship’s starboard axis. For such systems, the #EI command can also be used to align an up-
ward pointing unit (e.g., mounted on a submarine) to the ship’s axis by setting it to 18000.
For systems that have attitude referenced to internal coordinates, #EI is typically set to
zero since the velocity data is referenced to either beam, instrument or geographic coordi-
nates instead of ship coordinates.
For an upward pointing unit with instrument referenced attitude, use EU to align the in-
strument attitude data with the ship coordinates for use in velocity transformation.
