GAPS - User Guide
I.4.3 PTSAY
Transponder Relative Positioning Message relative to the sensor – NORTH orientation
(Relative coordinates and depth)
$PTSAY,#nnnnn,hhmmss.sss,dd,mm,yyyy,bbb,xxxxx.x,yyyyy.y,p,oooo.o,d,cccc.c*ck
Example: $PTSAY,#16057,124541.449,18,12,2017,1,8.89,-31.39,F,1013.22,1,9999.00*1E
#nnnnn
hhmmss.sss
dd
mm
yyyy
bbb
xxxxx.x
yyyyy.y
p
oooo.o
d
cccc.c
*ck
Recurrence frame Number
Time in hours, minutes, seconds ,milliseconds
Day jj = 0 to 31
Month mm = 1 to 12
Year
1 to 128: Transponder ID
X coordinates (positive northwards) in meters
Y coordinates (positive eastwards) in meters
Position validity (X,Y, Z): 0 to F: binary coding of acoustic channel validity
Calculated depth in meters
Depth validity 0: None 1: Calculated 2: Sensor
Sensor depth in meters
Hexadecimal checksum ('*' precedes the checksum value)
● Position validity: The value represents the acoustic hydrophone validity on 4 bits (from
0000 to 1111). 0 means channel not valid and 1 hydrophone operating properly. GAPS can
still output valid positions even if the validity is not 1111 (three channels are enough). All
output positions are valid.
> 1111 --> F (all 4 hydrophones OK)
> 1110 --> E (hydrophone #1 NOK)
> 1101 --> D (hydrophone #2 NOK)
> 1011 --> B (hydrophone #3 NOK)
> 0111 --> 7 (hydrophone #4 NOK)
● Calculated depth / Sensor depth: The sensor knows only one depth that is the fusion of
both depths (Calculated and sensor). This “optimized” depth is in the “Calculated depth”
field.
● Sensor depth: if the Acoustic Transponder has no sensor, the value transmitted is 9999.
The X and Y positions are relative to the Acoustic Array
188 MU-GAPS-AN-005-H - November 2019
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