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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.
•F=Fullaidedmodeandstabledata.Thesensoroperateswithexternalinputof
bothspeedandheadingdata.
•f=Fullaidedmodebutunstabledata.Thesensoroperateswithexternalinput
ofheadingandspeeddata,butthedatafromthesensorisunstable.Aprobable
causeforthisisthelackofalignmentafterthesensorhasbeenswitchedon
restarted,orafailureintheheadingand/orspeeddatainput.
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