iXBlue GAPS - Page 195

GAPS - User Guide
PTSAY
Transponder Relative Positioning Message relative to GAPS – NORTH orientation (Relative
coordinates and depth)
$PTSAY,#nnnnn,hhmmss.sss,dd,mm,yyyy,bbb,xxxxx.x,yyyyy.y,p,oooo.oo,d,cccc.cc*ck
Example: $PTSAY,#16057,124541.449,18,12,2017,1,8.89,-31.39,F,1013.22,1,9999.00*1E
#nnnnn
hhmmss.ss
dd
mm
yyyy
bbb
xxxxx.x
yyyyy.y
a
oooo.oo
A
cccc.cc
*ck
Recurrence frame Number
Time in hours, minutes, seconds ,milliseconds
Day jj = 0 to 31
Month mm =1 to 12
Year
Transponder 1 to 128, Unknown Transponder -128 to –1
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 GAPS know 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 GAPS Acoustic Array.
MU-GAPS-AN-005-H - November 2019 195