Simrad EK15 - Kongsberg EM Attitude 1000

SimradEK15
floatDepth[4];
floatSs[4];
longTransducerNumber[4];
floatAthwartShips;
};
Ethernetformatdescription
1Header#=canbeD1,D2orD3forchannels1,2or3.
2Separator=“,”
3Time=currenttime;hour,minute,secondandhundredthofsecond
4Depth=detectedbottomdepthinmeters
5Ss=bottomsurfacebackscatteringstrengthindB
6TransducerNumber=transducernumber
7AthwartShips=athwartshipsbottomslopeindegrees
KongsbergEMAttitude1000
ThisproprietaryKongsbergEMAttitude1000binarytelegramconsistsofaxedlength
messagewith10bytes.
Itisdenedasfollows:
•Byte1:Syncbyte1=00h
•Byte2:Syncbyte2=90h
•Byte3:RollLSB
•Byte4:RollMSB
•Byte5:PitchLSB
•Byte6:PitchMSB
•Byte7:HeaveLSB
•Byte8:HeaveMSB
•Byte9:HeadingLSB
•Byte10:HeadingMSB
LSB=leastsignicantbyte,MSB=mostsignicantbyte.
1Alldataarein2’scomplementbinary,with0.01°resolutionforroll,pitchand
heading,and1cmresolutionforheave.
•Rollispositivewithportsideupwith±179.99°validrange
•Pitchispositivewithbowupwith±179.99°validrange
•Heaveispositiveupwith±9.99mvalidrange
•Headingispositiveclockwisewith0to359.99°validrange
2Non-validdataareassumedwhenavalueisoutsidethevalidrange.
3Youcandenehowrollisassumedtobemeasured,eitherwithrespecttothe
horizontalplane(theHippy120orTSSconvention),ortotheplanetiltedbythe
givenpitchangle(i.e.asarotationanglearoundthepitchtiltedforwardpointing
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351718/C