iXBlue GAPS - Page 207

GAPS - User Guide
Position Telegram LBL
Example data: X = 1234.56 m Y = -987.65 m Depth 1234.5 m Heading 59.9° Pos. to ROV 15.
Training mode
Byte # BCD INFO.
1 DF 1: SOT
2 02
2: Head byte.
2 - LBL position
3 01
3: Status byte 1. (bit orientated)
Bit 0: Position measurement OK.
Bit 1: Position measurement filtered.
Bit 2: Position measurement predicted.
Bit 3: Spare.
Bit 4: Narrow beam.
Bit 5: Spare
Bit 6: BCD Conversion error
Bit 7: Transceiver error.
4 00
4: Status byte 2. (bit orientated)
Bit 0-1: Transducer number.
Bit 2-3: Transceiver number.
Bit 4: Training mode
Bit 5: Rov TP (mobile)
Bit 6: LBL Co-ordinates in UTM
Bit 7: Master: 0; Slave: 1
2
5 15
5: TP. inf.
0 - Position of Vessel
1 - Position of ROV 1
: :
16 - Position of ROV 16
17 - Position of Relay 1
18 - Position of Relay 2
19 - Position of Relay 3
20 - Position of Relay 4
6 01
6: TP. array
1 - Array 1
: :
4 - Array 4
7 00 7: X POS (raw or estimated)
8 00 MSB used for sign. (“D” is negative)
9 12 LSB is 1/100 of the unit.
10 34
MU-GAPS-AN-005-H - November 2019 207