Simrad ST90 - Page 486

484
442703/B
•Anyvaluefrom91hto99hindicatesvaliddatawithreducedaccuracy(decreasing
accuracywithincreasingnumber).
•Anyvaluefrom9Ahto9Fhindicatesnon-validdatabutnormaloperation(for
examplecongurationorcalibrationmode).
•AnyvaluefromA0htoAFhindicatesasensorerrorstatus.
2Alldataarein2’scomplementbinary.
Resolutionis0.01degreesforroll,pitchandheading,and1cmforheave.
•Rollispositivewithportsideupwithvalidrange±179.99degrees.
•Pitchispositivewithbowupwithvalidrange±179.99degrees.
•Heaveispositiveupwithvalidrange±9.99m.
•Headingispositiveclockwisewithvalidrange0to359.99degrees.
Ifavalueisoutsidethevalidrange,itisassumedtobenon-valid,andrejected.
Note
Heaveisloggedaspositivedownwards(thesignischanged)includingrolland
pitchinducedleverarmtranslationtothetransmittransducer .
Youcandenehowrollisassumedtobemeasured,eitherwithrespecttothehorizontal
plane(theHippy120orTSSconvention),ortotheplanetiltedbythegivenpitchangle
(i.e.asarotationanglearoundthepitchtiltedforwardpointingx-axis).
Thelatterconvention(calledTate-BryantinthePOS/MVdocumentation)isusedinside
thesysteminalldatadisplaysandintheloggeddata.Atransformationisappliedifthe
rollisgivenwithrespecttothehorizontal.
Note
Thisformatwasoriginallydesignedforusewiththeearlymultibeamechosounders
manufacturedbyKongsbergMaritime.Intheoriginalversionoftheformat(Kongsberg
EMAttitude1000),therstsynchronisationbytewasalwaysassumedtobezero.The
sensormanufacturerswerethenrequestedtoincludesensorstatusintheformatusing
therstsynchronisationbyteforthispurpose.
Relatedtopics
Proprietarydatagramformats,page473
SimradST90InstallationManual