innomar SES smart - Page 190

190 User’s Manual Innomar SES Parametric Sub-bottom Profilers
190 Innomar Technologie GmbH (2020-09)
TSS Binary Format
Binary protocol, fixed length (13 bytes), port settings 8/N/1.
0 1
1234567890123
Format:
SSLRRPPhhHHQC
Description Range Units
SS Start of packet AA3Ah
L Packet length (bytes to follow) 09h (9 bytes follow until checksum)
RR Roll angle (LSB first) ±180° 180/32768 °
PP Pitch angle (LSB first) ±180° 180/32768 °
hh Heading (LSB first) 0° … 359.9° 180/32768 °
HH Heave (LSB first) ±50m 1/1000 mm
Q Sensor status 06h Ready (GPS aided)
09h Ready (manually aided)
0Ch Ready (manually aided)
0Eh Ready (log aided)
26h Ready (GPS aided)
C Checksum LSB of bytewise sum of message
Kongsberg Simrad EM-1000 / EM-3000 Format
Binary protocol, fixed length (10 bytes), port settings 8/N/1.
0 1
1234567890123
Format:
QTRRPPHHhh
Description Range Units
Q Sensor status 00h EM1000 (fix, no sensor status given)
90h OK, full accuracy
91h ... 99h valid data with reduced accuracy
9Ah ... 9Fh non-valid data (e.g. in calibration mode)
A0h ... AFh sensor error
T Fixed token 90h
RR Roll angle (LSB first) ±180° (-17999 ... +17999); (‘+’ port up) 0.01 °
PP Pitch angle (LSB first) ±180° (-17999 ... +17999); (‘+’ bow up) 0.01 °
HH Heave (LSB first) ±10m (-999 ... +999); (‘+’ going up) 1 cm
hh Heading (LSB first) 0° … 359.99° (0 ... +35999); 0.01 °
Note: The EM-1000 format is sometimes also called “HDMS Thomson”.
Kongsberg Seatex MRU Standard Format
Binary protocol, fixed length (16 or 20 bytes), port settings 8/N/1.
The 4 bytes Heading may be included or not.
0 1 2
12345678901234567890
Format:
QLTRRRRPPPPhhhhHHHHC
Description Range Units
Q Sensor status 71h (‘q’)  settled condition (OK)
51h (‘Q’)  unsettled condition
L Packet length
in bytes to follow
11h (17d)  including heading
0Dh (13d)  without heading
T Fixed token 2Fh (47d)
RRRR Roll angle (32-bit float)
±/2 (±90° in radians); MSB first
Radians
PPPP Pitch angle (32-bit float)
±/2 (±90° in radians); MSB first
Radians
hhhh Heading (32-bit float)
0 … 2 (0 ... 360° in radians); MSB first
Radians
HHHH Heave (32-bit float) ±10m (-999 ... +999); MSB first Meters
C Checksum LSB of bytewise sum of message