| Data description | Unit of measurement | Format | No. of bytes |
|---|---|---|---|
| Start ID | #KMB | char | 4U |
| Datagram length | uint16 | 2U | |
| Datagram version (=1) | uint16 | 2U | |
| UTC seconds | s | uint32 | 4U |
| UTC nanoseconds | ns | uint32 | 4U |
| Status | uint32 | 4U | |
| Latitude | deg | double | 8F |
| Longitude | deg | double | 8F |
| Ellipsoid height | m | float | 4F |
| Roll | deg | float | 4F |
| Pitch | deg | float | 4F |
| Heading | deg | float | 4F |
| Heave | m | float | 4F |
| Roll rate | deg/s | float | 4F |
| Pitch rate | deg/s | float | 4F |
| Yaw rate | deg/s | float | 4F |
| North velocity | m/s | float | 4F |
| East velocity | m/s | float | 4F |
| Down velocity | m/s | float | 4F |
| Latitude error | m | float | 4F |
| Longitude error | m | float | 4F |
| Height error | m | float | 4F |
| Roll error | deg | float | 4F |
| Pitch error | deg | float | 4F |
| Heading error | deg | float | 4F |
| Heave error | m | float | 4F |
| North acceleration | m/s2 | float | 4F |
| East acceleration | m/s2 | float | 4F |
| Down acceleration | m/s2 | float | 4F |
| Delayed heave: | |||
| UTC seconds | s | uint32 | 4U |
| UTC nanosecond | ns | uint32 | 4U |
| Delayed heave | m | float | 4F |
| Data format | Little endian (the least significant byte is transmitted first). Float is according to IEEE - 754. | |||||||||
| Datagram length | The total number of bytes in the datagram | |||||||||
| Datagram version | The version is incremented if the datagram format is changed. | |||||||||
| Timestamp format | Epoch 1970-01-01 UTC time | |||||||||
| Position and height | At user-defined sensor reference point. Position in decimal degrees.
|
|||||||||
| Positive roll | Port side up | |||||||||
| Positive pitch | Bow up | |||||||||
| Positive heave | Downwards, at user-defined sensor reference point | |||||||||
| True north | ||||||||||
| Error fields | Sensor data quality: RMS -1= not implemented |
| Bit | |
|---|---|
| Invalid data: | |
| 0 | Horizontal position and velocity |
| 1 | Roll and pitch |
| 2 | |
| 3 | Heave and vertical velocity |
| 4 | Acceleration |
| 5 | Delayed heave |
| Reduced performance: | |
| 16 | Horizontal position and velocity |
| 17 | Roll and pitch |
| 18 | |
| 19 | Heave and vertical velocity |
| 20 | Acceleration |
| 21 | Delayed heave |