User’s Manual INNOMAR Parametric Sub-Bottom Profilers / SESWIN 217
Innomar Technologie GmbH (2023-01) 217
iXblue Octans NAV-BHO ($PASHR)
ASCII protocol, several NMEA compatible sentences.
The INNOMAR motion input only uses the $--SHR datagram.
$--SHR,HHMMSS.sss,hhh.hh,T,RRR.RR,PPP.PP,HHH.HH,r.rrr,p.ppp,y.yyy,d,e*cc<CR><LF>
Field Description Range
1 UTC time HHMMSS.sss (not used)
2 Heading 0 ... 359.99°
3 ‘T’, indicating true North ‘T’
4 Roll angle ±99.99°; leading sign ‘+’ or ‘-‘
5 Pitch angle ±99.99°; leading sign ‘+’ or ‘-‘
6 Heave ±99.99m; leading sign ‘+’ or ‘-‘
7 Roll angle accuracy not used
8 Pitch angle accuracy not used
9 Heading accuracy not used
10 GNSS position mode not used
11 Sensor status 0 OK
1 error
Note: The RPH orientation (up/down) is not specified and depends on the sensor used.
iXblue Octans Standard 1
ASCII protocol, several NMEA compatible sentences.
This format sends a lot of data and is thus generally not recommended to use.
!
The INNOMAR motion input only uses a subset of the datagrams that may be sent by the
sensor, either “$--HDT, $--TRO, $--LIN, $--INF”
or “$--HDT, $--TRO, $--POS, $--INF”
or “$--HDT, $--TRH, $--INF”.
If the same value is received in different datagrams, the latest is used. Otherwise, the
order of datagrams received does not matter.
$--HDT,h.hh,T*cc<CR><LF>
1 Heading angle in degrees
2 'T' (fix value for true north)
$--TRO,PP.PP,p,RR.RR,r*cc<CR><LF>
1 Pitch angle in degrees (unsigned)
2 sign: 'M' for bow up or 'P' for bow down
3 Roll angle in degrees (unsigned)
4 sign: 'B' for port down or 'T' for port up
$--LIN,x.xxx,y.yyy,H.HHH*cc<CR><LF>
$--POS,x.xxx,y.yyy,H.HHH,,,*cc<CR><LF>
1 Surge in meters (signed)
2 Sway in meters (signed)
3 Heave in meters (signed)
(4 surge without lever arms not used)
(5 sway without lever arms not used)
(6 heave without lever arms not used)
$--TRH,P.PP,p,R.RR,r,H.HH,h*cc<CR><LF>
1 Pitch angle in degrees (unsigned)
2 sign: 'M' for bow up or 'P' for bow down
3 Roll angle in degrees (unsigned)
4 sign: 'B' for port down or 'T' for port up
5 Heave in meters (unsigned)
6 sign: ‘U’ for going up or ‘O’ for going down
$--INF,QQQQQQQQ*cc<CR><LF>
1 Sensor status (hex value); used:
bit 0–3, 27 invalid data
bit 5 sensor alignment
bit 15 sensor error
Note: Some older INNOMAR firmware versions required a certain order of the datagrams.
To Next Page
Loading...