Format
:aabbbb shhhhx srrrr spppp<CR><LF>
Description
The format is based on ASCII characters, the datagram has a fixed length, and it is terminated with a carriage return and
line feed. Baud rate and output rate may be adjusted to fit your needs. The definition of the attitude angles in this format is different from the Euler angles definition used elsewhere. The difference appears in the roll angle, where:
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1 |
aa: Sway acceleration This is a dual-character hex number. The value is provided as 0.03835 m/ss units.
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2 |
bbbb:Heave acceleration This is a four-character hex number. The value is provided as 0.000625 m/ss units.
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3 |
s: This is a single character. If the value is positive, a "space" character is provided.
If the value is negative, a "–" character is provided.
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4 |
hhhh: Heave position This is a four-character decimal number. The value is given in centimetres. Positive value is "up".
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5 |
x: Status
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U: Unaided mode/Stable data The sensor operates without external input data.
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u: Unaided mode/Unstable data The sensor operates without external input data. However, the data from the sensor is unstable. A probable cause for this is the lack of alignment after the sensor has been switched on or restarted. The alignment period from a power recycle is normally approximately five minutes.
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G: Speed aided mode/Stable data The sensor operates with external input of speed data.
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g: Speed aided mode/Unstable data The sensor operates with external input of speed data. However, the data from the sensor is unstable. A probable cause for this is the lack of alignment after the sensor has been switched on or restarted. It can also be a failure in the data input.
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H: Heading aided mode/Stable data The sensor operates with external input of heading data.
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h: Heading aided mode/Unstable data The sensor operates with external input of heading data. However, the data from the sensor is unstable. A probable cause for this is the lack of alignment after the sensor has been switched on or restarted. It can also be a failure in the data input.
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F: Full aided mode/Stable data The sensor operates with external input of both speed and heading data.
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f: Full aided mode/Unstable data The sensor operates with external input of both speed and heading data. However, the data from the sensor is unstable. A probable cause for this is the lack of alignment after the sensor has been switched on or restarted. It can also be a failure in the data input.
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6 |
s: This is a single character. If the value is positive, a "space" character is provided.
If the value is negative, a "–" character is provided.
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7 |
rrrr: Roll angle This is a four-character decimal number. The value is given in hundredths of a degree.
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8 |
s: This is a single character. If the value is positive, a "space" character is provided.
If the value is negative, a "–" character is provided.
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9 |
pppp: Pitch angle This is a four-character decimal number. The value is given in hundredths of a degree.
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