SMC Networks IMU-007 - Simrad Em1000 & Em3000

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IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.3.2 SIMRAD EM1000 & EM3000
Data Frame, Contains 10 bytes
SHRRPPHHYY
Example
0000000 10010000 11001010 11111111 00000101 00000000 00000000 00000000 10110111
10001000
Bitrate
Max output Rate
115200
100
57600
100
38400
100
19200
100
9600
76
4800
38
Description
Scaling
Format
Bytes
Value
Status byte (S)
1
0 (EM1000)
0x90 (EM3000)
Header (H)
1
0x90
Roll (RR)
0.01 degrees
Signed hex
2
-17999 - 18000 hundredths of °
Pitch (PP)
0.01 degrees
Signed hex
2
-17999 - 18000 hundredths of °
Heave (HH)
0.01 m
Signed hex
2
-32767 - 32766 cm
Heading (YY)
0.01 degrees
Unsigned hex
2
0 - 35999 hundredths of °
Note: When settling roll, pitch and heave will be 0.