Specifications
Tritech International Ltd SeaKing System Options OM
Issue 3 TIL – Eng – Spec – 040 Page 20 of 44
Profiler System Reply Data Structure
Extended with Appended Ping Time Data
(Applies to Profiler + Attitude ‘PA’ applications when no valid data from Tritech Roll Sensor)
* See Note2
Data Description DataRange Data Types
Head Installation Positions Relative to Vehicle Datum
Horizontal X Position in millimetres -5000 to +5000 INTEGER
Vertical Y Position in millimetres -5000 to +5000 INTEGER
Longitudinal Z Position in millimetres -5000 to +5000 INTEGER
Rotational R Position in 1/10 Gradians -02000 to +02000 INTEGER
EchoRanging Time Correction in microseconds -100 to +100 INTEGER
Number of Profile Samples (NPS) 00001 to 00799 CARDINAL
Scan Start Angle in 1/16 Gradians 00000 to 06392 CARDINAL
Step size and Direction during scan in 1/16 Gradians
(008=Ult, 016=Hi, 024=Med, 032=Lo)
-032 (Scan Left) to
+032 (Scan Right)
SHORTINT
Velocity of Sound in metres / second * 10 ( dm/sec ) 14000 to 15500
(in 1 metre steps)
CARDINAL
Time at Start of Scan 00000000 to
23595999
TIME
Duration of Scan in Units of 1 milliseconds 0 to 65535 CARDINAL
Profiler Head Operating Mode
Bit 0 = 0 = Orientation Upright
Bit 0 = 1 = Orientation Reversed
Bit 4 = 1 = Profiler data sent to SCU includes Ping
Times. Valid with Attitude Sensor Apps.
E.G. Upright = “000”
Reversed = “001”
Upright, Profiler data sent to SCU includes ping
Times = “016”
0 to 7 BYTE
NPS * Profile Data Points 0 to 65535 NPS*CARDINAL
Appended Ping Time Data – Start Character ‘ * ’ 1*CHAR
Ping Time Data Mode * See Note1
a) Normal Time Mode = “016”
b) Delta Time Mode = “018”
Normal
Time Mode =
1
st
Time = 1
st
Ping Tx Time (Time of Day in msec) – Time
at Start of Scan (field 10 above),
2
nd
Time = 2
nd
Ping Tx Time (Time of Day in msec) – Time
at Start of Scan,
…etc
Delta
Time Mode =
1
st
Time = 1
st
Ping Tx Time (Time of Day in msec) – Time
at Start of Scan (field 10 above).
All other Ping Times thereafter are delta values (msec)
showing Time variance relative to the preceding Ping
Time.
000 to 018 SHORTCARD
NPS * Ping Time Data (Transmit Time of Ping)
Where;
1
st
Time corresponds to 1
st
Profile data point, 2
nd
Time
corresponds to 2
nd
Profile Data Point…etc.
a) Normal
Mode;
00000 to 65535
b) Delta
Mode;
1
st
Ping Time =
00000 to 65535
2
nd
-> Last Ping
Time = +126 to –127
* See Note3
CARDINAL
CARDINAL
SHORTINT