Applanix POS MV V4 - Table 25: Simrad 3000 Digital Output Format

POS MV V4 User Guide
Interfaces and Data Formats
Copyright © Applanix Corporation, 2009
3-24
• Heave format: 2’s complement, LSB = 1 cm, heave sense
is user selectable from the MV-POSView Controller
program
• Heading format: LSB = 0.01°, 0 to 359.99°, positive =
clockwise
A frame of Simrad digital attitude data, as supplied by the POS MV,
has the format shown in
Table 25.
Table 25: Simrad 3000 Digital Output Format
Item Byte Value Units (If Applicable)
Header LSB
Header MSB
0
1
0x00
0x90
N/A
Roll LSB
Roll MSB
2
3
±180° 0.01°
Pitch LSB
Pitch MSB
4
5
±180° 0.01°
Heave LSB
Heave MSB
6
7
±327 m 1 cm
Heading LSB
Heading MSB
8
9
0 to 359.99° 0.01°
Note: POS MV sends records using the Simrad 3000 format at an update rate from
one to 200 Hz; TOV is updated at the same rate. The recommended minimum baud
rate for use with this format is 19200 baud at 100 Hz.
4. TSM 5265 Format
You can use this format with the Thompson TSM 5265 multi-beam
sonar. The output message supplies the sonar with a time tag (roll,
pitch and heave), heading and sonar velocity. POS MV updates the
message and the TOV from one to 200 times per second.