Simrad EK15 - Sounder;Tss1 Motion Protocol

SimradEK15
Sounder/TSS1Motionprotocol
ThisproprietarySimradSounder/TSS1protocolmaybethemostcommoninterfacefor
heave,rollandpitchcompensation.Whenyouselectthisprotocol,thenumberofsensor
variablesisxed,andthereisnotokenassociatedwithit.However,baudrateandoutput
ratemaybeadjustedtotyourneeds.TheformatisbasedonASCIIcharacters,the
datagramshavexedlength,anditisterminatedwithacarriagereturnandlinefeed.
ThedenitionoftheattitudeanglesinthisformatisdifferentfromtheEulerangles
denitionusedelsewhere.Thedifferenceappearsintherollangle,where:
Roll =arcsinsin(Roll ) cos(Pitch )
echosounder Euler Euler
•
Format
:aabbbbshhhhxsrrrrspppp<cr><lf>
Formatdescription
1aa=sway–twocharactershexnumberwithswayacceleration,in0.03835m/ss
units
2bbbb=heave–fourcharactershexnumberwithheaveacceleration,in0.000625
m/ssunits
3s=asinglecharacterprovidinga“space”characterifthevalueispositive,ora
“–”characterifitisnegative
4hhhh=heave–fourcharactersdecimalnumberwithheavepositionincentimetres,
positiveup
5x=statuscharacter:
•U=Unaidedmodeandstabledata.Thesensoroperateswithoutexternalinput
data.
•u=Unaidedmodebutunstabledata.Thesensoriswithoutexternalinputdata,
butthedatafromthesensorisunstable.Aprobablecauseforthisisthelackof
alignmentafterthesensorhasbeenswitchedonrestarted.Thealignmentperiod
fromapowerrecycleisnormallyapproximatelyveminutes.
•G=Speedaidedmodeandstabledata.Thesensoroperateswithexternalinput
ofspeeddata.
•g=Speedaidedmodebutunstabledata.Thesensoroperateswithexternalinput
ofspeeddata,butthedatafromthesensorisunstable.Aprobablecauseforthis
isthelackofalignmentafterthesensorhasbeenswitchedonrestarted,ora
failureinthespeeddatainput.
•H=Headingaidedmodeandstabledata.Thesensoroperateswithexternal
inputofheadingdata.
•h=Headingaidedmodebutunstabledata.Thesensoroperateswithexternal
inputofheadingdata,butthedatafromthesensorisunstable.Aprobablecause
forthisisthelackofalignmentafterthesensorhasbeenswitchedonrestarted,
orafailureintheheadingdatainput.
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