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Blueprint Subsea seatrac X100 Series Manual

Acoustic beacons
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X100 Series
Acoustic Beacons
Serial Command Interface
Reference
(for firmware version 1.2)
UM-140-D00221-02

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Summary of Contents for Blueprint Subsea seatrac X100 Series

  • Page 1 X100 Series Acoustic Beacons Serial Command Interface Reference (for firmware version 1.2) UM-140-D00221-02...

  • Page 3: Table Of Contents

    SeaTrac Serial Command Interface Reference Contents 1. Document Revision and Change History ............... 7 2. Introduction ......................10 2.1. Overview and Scope..................10 2.2. Numerical Notations..................11 2.3. Diagnostic Tools ....................11 2.4. Technical Support ..................... 11 2.5. Notices......................12 3.
  • Page 4 SeaTrac Serial Command Interface Reference 6.3.5. CAL_ACTION_E (Calibration Actions) ............. 35 6.3.6. CID_E (Command Identification Codes)............36 6.3.7. CST_E (Command Status Codes) ..............41 6.3.8. STATUSMODE_E (Status Output Mode) ............44 6.4. Structures ....................... 45 6.4.1. ACOMSG_T (Acoustic Message)..............45 6.4.2.
  • Page 5 SeaTrac Serial Command Interface Reference 7.6.7. CID_XCVR_RX_UNHANDLED............... 100 7.6.8. CID_XCVR_USBL ..................101 7.6.9. CID_XCVR_FIX ..................103 7.6.10. CID_XCVR_STATUS ................. 104 8. Acoustic Protocol Stack Message Definitions ............. 105 8.1. PING Protocol Messages .................. 105 8.1.1. CID_PING_SEND..................106 8.1.2. CID_PING_REQ ..................108 8.1.3.
  • Page 6 SeaTrac Serial Command Interface Reference Page 6...

  • Page 7: Document Revision And Change History

    SeaTrac Serial Command Interface Reference 1. Document Revision and Change History This section details the changes that have been made to this document as a result of new beacon firmware releases. Developers upgrading beacon firmware should use the following summary list to check for compatibility in command message encoding and decoding algorithms.
  • Page 8 SeaTrac Serial Command Interface Reference  Command message changes include… The 32-bit FLAGS field in the HARDWARE_T structure has been spit into two 16- bit fields, representing system (factory set) flags, and user flags. CID_XCVR_RX_RESP_ERROR removed and functionality merged with CID_XCVR_RX_ERR message.
  • Page 9 SeaTrac Serial Command Interface Reference  Transmitter waveform modified for improved performance.  Widened USBL detection window to allow greater multipath tolerance as signal is processed by the data decoder. Revision 1 (Firmware v1.0) Initial documentation release for beacon firmware v1.0. Page 9...

  • Page 10: Introduction

    2. Introduction 2.1. Overview and Scope The SeaTrac X100 series of Micro-USBL tracking and data modems are suite of complimentary products built around a robust broadband spread spectrum signalling scheme. These multi- purpose acoustic transponder beacons are capable of simultaneously tracking asset positions and undertaking bi-directional data exchange, making them ideal for use in a wide range of applications including…...

  • Page 11: Numerical Notations

    SeaTrac Serial Command Interface Reference 2.2. Numerical Notations Throughout this document references are made to numerical values expressed in decimal, hexadecimal or binary notation. To identify to base of numbers, the following notation is used…  Decimal Values in decimal are expressed in plain numerical digits without any form or prefix or postfix notation.

  • Page 12: Notices

    SeaTrac Serial Command Interface Reference 2.5. Notices Specifications and Content The contents of this document are provided on an “as is” basis and although we try to ensure the information presented here is correct at the time of going to press, this document may contain some errors.

  • Page 13: Beacon Architecture

    SeaTrac Serial Command Interface Reference 3. Beacon Architecture The diagram below shows the hardware blocks in each beacon… The X150 and X110 hardware are very similar, with the exception that X110 beacons do not have the USBL receiver circuitry or transducers fitted. 3.1.

  • Page 14: Environmental Sensor System

    SeaTrac Serial Command Interface Reference Serial commands are provided to allow the user to mage changes to the working RAM settings or read them back, and to save of load the RAM settings back into EEPROM as required. However, like other memories of its type, the EEPROM memory has a lifetime endurance of between 10,000 and 50,000 cycles, after which its data retention capabilities may start to degrade (below the guaranteed 5 year period).

  • Page 15: Acoustic Transceiver & Data Modem

    SeaTrac Serial Command Interface Reference For further details on calibration procedures, refer to the Bacons user manual. Section 7.5 (from page 88) deals with calibration configuration messages. 3.5. Acoustic Transceiver & Data Modem The Acoustic Transceiver module provides control over the beacons transmitters and receivers allowing packets of data to be sent and received by adding and validating appropriate header and checksum information.

  • Page 16: Acoustic Protocol Stack

    SeaTrac Serial Command Interface Reference range and the AHRS system can compute the position of the remote beacon in relative real- world coordinates (Northing, Easting and Depth). Tracking and navigation systems can be built using one X150 is mounted from the supervisor vessel, with an application controlling the sequential ‘pinging’...

  • Page 17: Getting Started

    SeaTrac Serial Command Interface Reference 4. Getting Started When using SeaTrac Beacons for the first time, ensure that you have read the Beacon’s User Manual first and observed all the operating requirements and precautions. Specially, the user manual covers the connector pin-outs used for making connections to the beacon and the requirements of the power supply.

  • Page 18: Reading Beacon Information

    SeaTrac Serial Command Interface Reference increased (due to reduced mechanical damping). Taking the above note into account, development and testing of the beacons in air is still possible so long as the developer is aware of the risks. Beacons can be placed on a bench about 30cm to 50cm apart and should communicate acoustically with each other, although sometimes it’s more reliable to use clamp-stands to hold them away from the surface of the desk.

  • Page 19: Fetching, Updating And Storing Settings

    SeaTrac Serial Command Interface Reference Application Version = v1.0.1915 Application Checksum = 0x4DBF60E9 Pressure Sensor Id = 20905984 Pressure Sensor Type = PA Pressure Sensor Calibrated = 2014-03-01 Pressure Sensor Min = 0.0 bar Pressure Sensor Max = 200.0 bar Ready...

  • Page 20: Requesting Status Output

    SeaTrac Serial Command Interface Reference  First define the SETTINGS_T structure in your application – you will require this to read settings into.  Send a CID_SETTINGS_GET command to the beacon, and parse the response into a field of type SETTINGS_T –...

  • Page 21: Calibrating The Ahrs

    SeaTrac Serial Command Interface Reference MagCalValid = TRUE MagCalAge = 0x0000042B (1067) MagCalFit = 0x5E (94)  Alternately, you can specify a CID_STATUS with the first parameter as a combination of flags defined by the STATUS_BITS_T type – this allows the content of the message to be specified on a case-by-case basis.

  • Page 22: Acoustically Pinging Beacons

    SeaTrac Serial Command Interface Reference Magnetometer Calibration  To give user feedback, turn on the outputting of magnetometer sensor and calibration status information using either the CID_SETTINGS_SET CID_STATUS_CFG_SET command. It is recommend that the output rate be chosen to be either 5Hz or 10Hz with STATUSMODE_E enumeration,...
  • Page 23 SeaTrac Serial Command Interface Reference  Check each remote beacon uses the same response turnaround time value in the XCVR_RESP_TIME field – typically this should be 10ms.  Program any settings changed back into the beacon using the CID_SETTINGS_SET CID_SETTINGS_SAVE commands.
  • Page 24 SeaTrac Serial Command Interface Reference  If no response is received by the local beacon, after the previously configured Range Timeout period has been observed a CID_PING_ERROR message will be generated indicating the beacon has timed out. Controlling Algorithm By using the above procedure, developers can build their own control algorithms that poll a network of remote beacons, obtaining positing information for each one.

  • Page 25: Serial Protocol

    SeaTrac Serial Command Interface Reference 5. Serial Protocol Communications between a SeaTrac Beacon and controlling device (such as a PC or embedded system) take the form of Command Messages sent to the Beacon, and Response (or Status) Messages received back from it. All Command Messages issued to the Beacon are acknowledged by a Response Message, and occasionally Status messages are generated by the beacon in response to system events (such as message reception etc).

  • Page 26: Synchronisation Characters

    SeaTrac Serial Command Interface Reference 5.3. Synchronisation Characters To indicate the start of a message, a unique synchronisation character (‘#’ or ‘$’) is used, whose presence is guaranteed not to occur anywhere else other than at the start of a valid message.

  • Page 27: Checksums

    SeaTrac Serial Command Interface Reference 5.6. Checksums The last 4 characters of each message (prior to the <CR><LF> characters) represent the 16- bit checksum value (send in Little-Endian form). Checksums are computed by processing in a sequential byte-wise fashion the messages binary content after (but not including) the synchronisation character, and not including the checksum value itself –...
  • Page 28 SeaTrac Serial Command Interface Reference CID = 0x02, Checksum = 0xC181  #0281C1 CID = 0x15, Checksum = 0xCFC1  #15C1CF CID = 0x10, Payload = 0x00,  #10000DC0 Checksum = 0xC00D CID = 0x40, Payload = 0x02,  #4002B001 Checksum = 0x01B0 CID = 0x32, Payload = 7 bytes, ...

  • Page 29: Message Field Type And Constant Definitions

    SeaTrac Serial Command Interface Reference 6. Message Field Type and Constant Definitions Message payloads contain a sequence of data fields as defined by the CID code at the start of the message. Depending on the CID code specified, the data fields may differ in length and meaning, but all are built up out of simple defined data types discussed in this section…...

  • Page 30: Arrays

    SeaTrac Serial Command Interface Reference 6.2. Arrays Arrays define sequential and continuous (packed) allocations of memory for a specific data type. In the scope of this documentation, arrays are defined by the use of square brackets (“[ x ]”) after a data type, with the value enclosed within the brackets denoting the number of storage elements required.

  • Page 31: Amsgtype_E (Acoustic Message Type)

    SeaTrac Serial Command Interface Reference 6.3.1. AMSGTYPE_E (Acoustic Message Type) The AMSGTYPE_E enumeration is used to specify a type of acoustic message, and determines how the message is processed and which responses are generated from beacons. Value Symbolic Name Summary MSG_OWAY Indicates an acoustic message is sent One- Way, and does not require a response.
  • Page 32 SeaTrac Serial Command Interface Reference (MSG_REQ). Additionally, the message is sent with USBL acoustic information allowing the position of the sender to be determined through the range and incoming signal angle. MSG_REQX Indicates an acoustic message is sent as a Request type.

  • Page 33: Apayload_E (Acoustic Payload Identifier)

    SeaTrac Serial Command Interface Reference 6.3.2. APAYLOAD_E (Acoustic Payload Identifier) The APAYLOAD_E enumeration is used to specify how the payload contents of acoustic messages (see ACOMSG_T structures) are decoded and processed. Value Symbolic Name Summary PLOAD_PING Specified an acoustic message payload should be interpreted by the PING protocol handler.

  • Page 34: Baudrate_E (Serial Port Baud Rate)

    SeaTrac Serial Command Interface Reference 6.3.3. BAUDRATE_E (Serial Port Baud Rate) The baud rate enumeration defines codes representing the speed of serial communications ports. Values specified outside those defined in the table below will default to BAUD_115200. Value Symbolic Name Summary 0x07 BAUD_4800...

  • Page 35: Cal_Action_E (Calibration Actions)

    SeaTrac Serial Command Interface Reference 6.3.5. CAL_ACTION_E (Calibration Actions) The Calibration Action enumeration defines what operation the beacon should perform when a CID_CAL_ACTION command is issued. Valid operations are… Value Symbolic Name Summary 0x00 CAL_ACC_DEFAULTS Sets the current accelerometer calibration coefficient values back to defaults.

  • Page 36: Cid_E (Command Identification Codes)

    SeaTrac Serial Command Interface Reference 6.3.6. CID_E (Command Identification Codes) Command Identification (CID) Codes are an enumeration (or defined set of constants) stored/transmitted in a UINT8 type at the start of Command and Response messages after the synchronisation character, with the purpose of identifying the message function and its payload.
  • Page 37 SeaTrac Serial Command Interface Reference Settings Messages 0x15 CID_SETTINGS_GET Command sent to retrieve the working settings in use on the beacon. 0x16 CID_SETTINGS_SET Command sent to set the working settings and apply them. They are NOT saved to permanent memory until CID_ SETTINGS_SAVE is issued.
  • Page 38 SeaTrac Serial Command Interface Reference 0x35 CID_XCVR_RX_RESP Message sent when the transceiver receives a response (to a transmitted request). 0x37 CID_XCVR_RX_UNHANDLED Message sent when a message has been received but not handled by the protocol stack. 0x38 CID_XCVR_USBL Message sent when a USBL signal is decoded into an angular bearing.
  • Page 39 SeaTrac Serial Command Interface Reference 0x52 CID_NAV_QUERY_RESP Message generated when the beacon received a response to a NAV_QUERY. 0x53 CID_NAV_ERROR Message generated if there is a problem with a NAV_QUERY - i.e. timeout etc. 0x54 CID_NAV_REF_POS_SEND Message issued to broadcast a reference position (latitude and longitude) to all other beacons.
  • Page 40 SeaTrac Serial Command Interface Reference data exchange between beacons. 0x74 CID_DEX_RESET Command sent to reset the buffers and state of a socket. 0x75 CID_DEX_SEND Command sent to initiate a transfer of data pending on the specified socket. 0x76 CID_DEX_SOCKETS Command sent to retrieve a list of open sockets on the beacon, and a summary of data pending transfer on each one.

  • Page 41: Cst_E (Command Status Codes)

    SeaTrac Serial Command Interface Reference 6.3.7. CST_E (Command Status Codes) Command Status (CST) Codes are an enumeration (or set of defined constants) that are commonly used in Response messages sent from the beacon to indicate if a command executed successfully, or if not, what type of error occurred. CST codes are always transmitted as a UINT8 type.
  • Page 42 SeaTrac Serial Command Interface Reference 0x0E CST_PROG_DATA_ERROR Returned if there is an error decoding data in a firmware block. 0x0F CST_PROG_CHECKSUM_ERROR Returned if the specified checksum for the firmware does not match the checksum computed prior to performing the update. Acoustic Transceiver Status Codes 0x30 CST_XCVR_BUSY...
  • Page 43 SeaTrac Serial Command Interface Reference 0x3E CST_XCVR_STATE_RX Indicates the transceiver is in a receiving state. 0x3F CST_XCVR_STATE_RESP Indicates the transceiver is in a responding state, where a message is being composed and the “response time” period is being observed. DEX Protocol Status Codes 0x70 CST_DEX_SOCKET_ERROR Returned by the DEX protocol handler if an...

  • Page 44: Statusmode_E (Status Output Mode)

    SeaTrac Serial Command Interface Reference 6.3.8. STATUSMODE_E (Status Output Mode) The Status Mode enumeration is used to specify how often periodic status output messages are automatically generated… Value Symbolic Name Summary STATUS_MODE_MANUAL Status output message are not generated automatically, only upon manual request by sending the CID_STATUS command.

  • Page 45: Structures

    SeaTrac Serial Command Interface Reference 6.4. Structures Structures (sometimes called Records or Structs) are declarations defining complex data types of physically grouped variables placed under one name in a block of memory. For the scope of this document, the members (or fields) of Structures should be assumed to be defined sequentially in memory, with no additional packing bytes added.

  • Page 46: Acofix_T (Acoustic Position And Range Fix Summary)

    SeaTrac Serial Command Interface Reference 6.4.2. ACOFIX_T (Acoustic Position and Range Fix Summary) The Acoustic Fix structure is produced by the acoustic transceiver module and contains a summary of any information relating to a received signal – this includes current beacon depth, beacon attitude, water VOS, signal strength and any information that can be computed relating to the remote beacons range and position.
  • Page 47 SeaTrac Serial Command Interface Reference If this bit is set, it indicates the record contains the  Bit[0] = RANGE_VALID Range fields discussed below. MSG_TYPE AMSGTYPE_E The type of acoustic message received to generate this fix. ATTITUDE_YAW INT16 The yaw angle (relative to magnetic north) of the local beacon when the fix was computed.
  • Page 48 SeaTrac Serial Command Interface Reference RANGE_DIST UINT16 The resolved line-of-sight distance to the remote beacon, based on the RANGE_TIME and VOS values. Values are encoded in decimetres, so divide by 10 for a value in metres. USBL Fields If the message FLAGS parameter contains the USBL_VALID bit, then the following fields are sequentially appended to the record…...
  • Page 49 SeaTrac Serial Command Interface Reference computed from the range, incoming signal angle, local beacon depth, attitude and magnetic heading. Values are encoded in decimetres, so divide by 10 for a value in metres. POSITION_NORTHING INT16 The Northing distance component of the relative position of the remote beacon to the local beacon computed from the range, incoming signal angle, local beacon depth, attitude and magnetic heading.

  • Page 50: Ahrscal_T (Ahrs Calibration Coefficients)

    SeaTrac Serial Command Interface Reference 6.4.3. AHRSCAL_T (AHRS Calibration Coefficients) An AHRS calibration structure contains all the coefficients required for the accelerometer, magnetometer and gyroscope sensors to produce valid yaw, pitch and roll attitude information. Parameter Type Description ACC_MIN_X INT16 The accelerometer X-axis sensor value that corresponds to -1G of gravitational force.
  • Page 51 SeaTrac Serial Command Interface Reference MAG_HARD_Y FLOAT The magnetometer Y-axis sensor offset value to compensate for Hard Iron effects. Valid values lie in the range -2000 to +2000. Default value is 0. MAG_HARD_Z FLOAT The magnetometer Z-axis sensor offset value to compensate for Hard Iron effects.

  • Page 52: Firmware_T (Firmware Information)

    SeaTrac Serial Command Interface Reference 6.4.4. FIRMWARE_T (Firmware Information) The FIRMWARE_T structure is used to describe configuration information for the firmware that is currently loaded into memory. Parameter Type Description VALID BOOLEAN Flag when true indicating the firmware is valid and allowed to execute.

  • Page 53: Hardware_T (Hardware Information)

    SeaTrac Serial Command Interface Reference 6.4.5. HARDWARE_T (Hardware Information) The HARDWARE_T structure is used to describe information related to the hardware configuration of the beacon. Parameter Type Description PART_NUMBER UINT16 The hardware product part number, for example…  795 = SeaTrac X150 USBL Beacon ...

  • Page 54: Ipaddr_T (Ip V4 Address)

    SeaTrac Serial Command Interface Reference 6.4.6. IPADDR_T (IP v4 Address) The network IP address structure can be defined either an array of 4 sequential bytes or a single UINT32 value (or a union of both). In C++, this definition could be represented as… struct IpAddr_T { union { uint32 Addr;...

  • Page 55: Macaddr_T (Mac Address)

    SeaTrac Serial Command Interface Reference 6.4.7. MACADDR_T (MAC Address) Network MAC addresses normally only require 6-bytes of memory allocation. However, for convenience the SeaTrac beacon treats MAC addresses as a UINT64 type, but uses a union to allow overlaying with a 6-byte sequential array. In C++, this definition could be represented as…...

  • Page 56: Nav_Query_T (Nav Protocol Query Bit Mask)

    SeaTrac Serial Command Interface Reference 6.4.8. NAV_QUERY_T (NAV Protocol Query Bit Mask) The NAV Protocol Query Flags type is defined as a bit-field stored in a UINT8 value, where one or more bits (flags) may be set to specify an overall numerical value. Bits are defined as…...

  • Page 57: Settings_T (Settings Record Structure)

    SeaTrac Serial Command Interface Reference 6.4.9. SETTINGS_T (Settings Record Structure) The Settings Record structure is used to either retrieve the current working settings values in use from the beacon, or apply new changes to the beacon. As this structure contains current calibration and communication settings for the beacon, it is always recommended to read the contents of the structure from the beacon rather than populating a new structure from scratch.
  • Page 58 SeaTrac Serial Command Interface Reference NET_IP_SUBNET IPADDR_T Reserved for future use. When populating this structure, use a value of 0xFFFF0000 (255.255.0.0). NET_IP_GATEWAY IPADDR_T Reserved for future use. When populating this structure, use a default value of 0xC0A80101 (192.168.1.1). NET_IP_DNS IPADDR_T Reserved for future use.
  • Page 59 SeaTrac Serial Command Interface Reference ENV_PRESSURE_OFS INT32 The manually specified offset applied to readings take from the pressure sensor to compensate for altitude and atmospheric pressure changes. Values are encoded in milli-Bars, so divide by 1000 to obtain a value in Bars. Valid values lie in the range -1 to 1000 Bar.
  • Page 60 SeaTrac Serial Command Interface Reference  Bit[0] = AUTO_CAL_MAG When this bit is true, automatic (dynamic) calibration of the magnetometer is enabled. In this mode, the magnetic field surrounding the beacon is continuously samples as the beacon is rotated through space, and every 30s a new calibration is attempted.
  • Page 61 SeaTrac Serial Command Interface Reference  Bit[7] = XCVR_DIAG_MSGS When this flag is true a series of diagnostic status messages will be generated by triggering events processed by the acoustic transceiver – for further details see the following commands… CID_XCVR_TX_MSG, CID_XCVR_RX_ERR CID_XCVR_RX_MSG, CID_XCVR_RX_REQ...
  • Page 62 SeaTrac Serial Command Interface Reference XCVR_RESP_TIME UINT16 The response turnaround time specifies how long the beacon will wait between receiving a request message and starting transmission of the response message. All beacons communicating acoustically within the same network must use the same value otherwise range errors will be observed.

  • Page 63: Status_Bits_T (Status Fields Bit-Mask)

    SeaTrac Serial Command Interface Reference XCVR_ROLL UINT16 When the AHRS attitude is not used to specify the transceiver attitude, this value is used as the manually specified roll attitude from which relative positions of remote beacons to the local beacon are computed.
  • Page 64 SeaTrac Serial Command Interface Reference <value> UINT8 A bit-mask specifying which information should be included in generated status output messages. Bit values are…  Bits[7:6] = RESERVED Reserved for future use, treat as 0’s.  Bit[5] = AHRS_COMP_DATA When set, appends compensated sensor data fields to the end of the status output message.

  • Page 65: Beacon Management Message Definitions

    SeaTrac Serial Command Interface Reference 7. Beacon Management Message Definitions 7.1. System Messages System messages are the core set of command supported by the beacon in both its normal operating mode and in Bootloader mode. These commands provide basic functions to determine if the device is response, identify its hardware/firmware configuration, and allow firmware reprogramming.

  • Page 66: Cid_Sys_Info

    SeaTrac Serial Command Interface Reference 7.1.2. CID_SYS_INFO The CID_SYS_INFO command is used to receive hardware and firmware identification information from the beacon. This information can then be used by external applications to determine if firmware needs updating, or to determine support for Command Messages based on the hardware type.

  • Page 67: Cid_Sys_Reboot

    SeaTrac Serial Command Interface Reference 7.1.3. CID_SYS_REBOOT The CID_SYS_REBOOT command is sent to perform a software reset of the beacon. To prevent accidental resets, the command requires an additional UINT16 constant value to be specified after the CID code. On receiving a valid reset command, the beacon performs the following actions… ...

  • Page 68: Cid_Sys_Engineering

    SeaTrac Serial Command Interface Reference 7.1.4. CID_SYS_ENGINEERING The CID_SYS_ENGINEERING command is used for factory commissioning, diagnostic and debugging purposes that lie outside the scope of this document. Page 68...

  • Page 69: Firmware Programming Messages

    SeaTrac Serial Command Interface Reference 7.2. Firmware Programming Messages For developers wishing to allow beacons firmware to be updated while in the field and connected to their system/software, the following 3 commands provide the facility to transfer a SeaTrac XML Firmware file through the serial link. Opening the FWX firmware file in a text editor will show and XML structure and content similar to below…...

  • Page 70: Cid_Prog_Init

    SeaTrac Serial Command Interface Reference  TARGETS The TARGETS node contains a list of firmware applicable to each physical device that can be programmed on the hardware. Each device has a corresponding TARGET node definition.  TARGET The TARGET node contains firmware for each device. The attributes of the target node define the overall properties of the firmware used by the programming utility, and several of these are required to be sent when starting programming using the...
  • Page 71 SeaTrac Serial Command Interface Reference FW_CHECKSUM UINT32 Value obtained from the “Checksum” attribute of the FWX file TARGET node. FW_SIGNATURE UINT8[20] Value obtained from the “Signature” attribute of the FWX file TARGET node. The signature attribute contains 40 ASCII-Hex characters describing 20 bytes of data, so the string should be first decoded into an array of bytes that are then stored sequentially in this field.

  • Page 72: Cid_Prog_Block

    SeaTrac Serial Command Interface Reference 7.2.2. CID_PROG_BLOCK Once the CID_PROG_INIT command has been sent and accepted successfully by the beacon (returning a STATUS code of CST_OK), the CID_PROG_BLOCK command is then sent repeatedly to transfer each DATA node found in the FWX file under the required TARGET node. Data in the FWX file is encoded in ASCII-HEX pairs, so for a DATA node length attribute of 64, there will 128 ASCII-HEX characters.
  • Page 73 SeaTrac Serial Command Interface Reference firmware storage available.  CST_FAIL – An unspecified firmware error has occurred. Page 73...

  • Page 74: Cid_Prog_Update

    SeaTrac Serial Command Interface Reference 7.2.3. CID_PROG_UPDATE Once all the CID_PROG_BLOCK commands have been sent in the correct sequence, the CID_PROG_UPDATE command is used to transfer the new firmware from the working download area into active memory. This command may take up to 5 seconds to execute depending on the size of the firmware being programmed.

  • Page 75: Status Messages

    SeaTrac Serial Command Interface Reference 7.3. Status Messages The Status Messaging system allows external applications to display or log the real-time sensor readings and operational parameters of the beacon. Status Messages can be either manually requested by issuing the CID_STATUS command, or set to be automatically generated at specified time intervals (or disabled) by settings configured with the...
  • Page 76 SeaTrac Serial Command Interface Reference Response/Status Message Parameters Parameter Type Description MSG_ID CID_E Command identification code (CID_STATUS) STATUS_OUTPUT STATUS_BITS_T A bit-mask specifying which information is included in the following status output message, so any decoding algorithm can correctly parse the message record.
  • Page 77 SeaTrac Serial Command Interface Reference second. Attitude Fields If the message STATUS_OUTPUT parameter contains the ATTITUDE bit (see STATUS_BITS_T), then the following fields are sequentially appended to the message record. For details of attitude definitions refer to section 9.1 on page 136. ATT_YAW INT16 The current Yaw angle of the beacon, relative to...
  • Page 78 SeaTrac Serial Command Interface Reference seconds. MAG_CAL_FIT UINT8 Value indicating well current magnetometer calibration can fit the measured data to an ideal “sphere” (or perfect calibration). Values are encoded as a percentage from 0 to 100. Accelerometer Calibration Fields If the message STATUS_OUTPUT parameter contains the ACC_CAL bit (see STATUS_BITS_T), then the following fields are sequentially appended to the message record.
  • Page 79 SeaTrac Serial Command Interface Reference Computing a ratio between this value and the -1G to +1G interval (specified by the ACC_LIM_MIN_X and ACC_LIM_MAX_X values), gives the current gravitation acceleration seen on the sensor axis. AHRS_RAW_ACC_Y INT16 The last raw accelerometer sensor value measured on the Y-axis.
  • Page 80 SeaTrac Serial Command Interface Reference AHRS_RAW_GYRO_Y INT16 The last raw rate of rotation measured around the Y-axis of the gyroscope sensor. Values are encoded in degrees-per-second. AHRS_RAW_GYRO_Z INT16 The last raw rate of rotation measured around the Z-axis of the gyroscope sensor. Values are encoded in degrees-per-second.

  • Page 81: Cid_Status_Cfg_Get

    SeaTrac Serial Command Interface Reference 7.3.2. CID_STATUS_CFG_GET This CID_STATUS_CFG_GET command allows the current configuration for the generation of automated status messages to be quickly retrieved. As an alternative to this command, use CID_SETTINGS_GET. Command Message Parameters Parameter Type Description MSG_ID CID_E Command identification code (CID_STATUS_CFG_GET)

  • Page 82: Cid_Status_Cfg_Set

    SeaTrac Serial Command Interface Reference 7.3.3. CID_STATUS_CFG_SET The CID_STATUS_CFG_SET command allows quick configuration of the status message output configuration without the need to read or reload the entire settings structure. However, any changes made with this command will only apply to the working RAM settings, and will be lost upon power-down unless they are subsequently with the CID_SETTINGS_SAVE command.

  • Page 83: Settings Messages

    SeaTrac Serial Command Interface Reference 7.4. Settings Messages The beacon settings system is responsible for the retrieval, verification, application and storage of parameters determining the operation of the beacon. All settings are stored within a single “settings record” and at power-up this is loaded from permanent (non-volatile) EEPROM memory into the working RAM area.

  • Page 84: Cid_Settings_Set

    SeaTrac Serial Command Interface Reference 7.4.2. CID_SETTINGS_SET The CID_SETTINGS_SET command is issued to update the values of the working RAM settings and apply the new values. This command updates the entire contents of the settings record, so for modification of settings it is recommended to first use CID_SETTINGS_GET command to read the current...

  • Page 85: Cid_Settings_Load

    SeaTrac Serial Command Interface Reference 7.4.3. CID_SETTINGS_LOAD This CID_SETTINGS_LOAD command causes the beacon to re-load the working RAM settings from the EEPROM storage and apply them. Any previous changes made to the working RAM settings that have not been stored with the CID_SETTINGS_SAVE will be lost.

  • Page 86: Cid_Settings_Save

    SeaTrac Serial Command Interface Reference 7.4.4. CID_SETTINGS_SAVE The CID_SETTINGS_SAVE command is sent to save the current working RAM settings into permanent storage, ensuring they are used next time the beacon is powered up. The beacon uses EEPROM memory to permanently store the settings information, but this has a lifetime endurance of between 10,000 and 50,000 cycles, after which its data retention capabilities may start to degrade (below the guaranteed 5 year period).

  • Page 87: Cid_Settings_Reset

    SeaTrac Serial Command Interface Reference 7.4.5. CID_SETTINGS_RESET The CID_SETTINGS_RESET command is used to reset the working RAM settings back to their factory default values, and store the default values back into EEPROM memory. The beacon uses EEPROM memory to permanently store the settings information, but this has a lifetime endurance of between 10,000 and 50,000 cycles, after which its data retention capabilities may start to degrade (below the guaranteed 5 year period).

  • Page 88: Calibration Messages

    SeaTrac Serial Command Interface Reference 7.5. Calibration Messages Occasionally the beacon will need its onboard sensor calibrating, specifically the magnetometer (to provider the magnetic north yaw heading for the AHRS system), and the pressure-sensor offset for the depth computation (to compensate for atmospheric pressure changes). The following calibration commands have been provided to allow application and developers easy access to sensor calibration functions.
  • Page 89 SeaTrac Serial Command Interface Reference the CAL_ACC_CALC action.  CAL_ACC_RESET This operation resets the measured accelerometer MIN and MAX filtered values measured by the sensor as it is slowly rotated during a calibration procedure (and output in the CID_STATUS message). However, this does not reset any of the accelerometer calibration coefficients in the working AHRSCAL_T...

  • Page 90: Cid_Ahrs_Cal_Get

    SeaTrac Serial Command Interface Reference 7.5.2. CID_AHRS_CAL_GET The CID_AHRS_CAL_GET command allows the current calibration coefficients in use by the AHRS system to be quickly retrieved. As an alternative to this command, use CID_SETTINGS_GET. Command Message Parameters Parameter Type Description MSG_ID CID_E Command identification code (CID_AHRS_CAL_GET)

  • Page 91: Cid_Ahrs_Cal_Set

    SeaTrac Serial Command Interface Reference 7.5.3. CID_AHRS_CAL_SET The CID_AHRS_CAL_SET command is used to allow direct updating of the AHRS sensor calibration coefficients without the need to read or reload the entire settings structure. However, any changes made with this command will only apply to the working RAM settings, and will be lost upon power-down unless they are subsequently with the CID_SETTINGS_SAVE command.

  • Page 92: Acoustic Transceiver Messages

    SeaTrac Serial Command Interface Reference 7.6. Acoustic Transceiver Messages Acoustic transceiver messages are used to gain information about the activity of the beacons transmitter and receiver systems, independently to how they are being controlled by any message protocol handlers. With the exception of the CID_XCVR_ANALYSE message, all other messages are generated only when the appropriate enabling flag is set in the acoustic transceiver settings –...
  • Page 93 SeaTrac Serial Command Interface Reference ADC_MEAN INT16 The average reading seen by the receiving analogue-to-digital converter. This value is used primarily for factory diagnostics and commissioning of the beacon hardware. ADC_PKPK UINT16 The peak-to-peak reading seen by the receiving analogue-to-digital converter. This value is used primarily for factory diagnostics and commissioning of the beacon hardware.

  • Page 94: Cid_Xcvr_Tx_Msg

    SeaTrac Serial Command Interface Reference 7.6.2. CID_XCVR_TX_MSG The CID_XCVR_TX_MSG status message is generated when the acoustic transceiver is instructed to send a message to another beacon. This message is a status message that may be sent by the beacon at any time (not in response to a command message) depending on protocol handlers or acoustic activity triggering a transceiver event.

  • Page 95: Cid_Xcvr_Rx_Err

    SeaTrac Serial Command Interface Reference 7.6.3. CID_XCVR_RX_ERR The CID_XCVR_RX_ERR status message is generated when the acoustic transceiver has encountered an error while trying to receive an acoustic message, or wait for a request response to be received. This message is a status message that may be sent by the beacon at any time (not in response to a command message) depending on acoustic activity triggering a transceiver event.
  • Page 96 SeaTrac Serial Command Interface Reference ACO_FIX ACOFIX_T A Fix structure containing information relating to the error. As errors usually occur before a message completes reception, the Flags field won’t indicate valid range, USBL signal or position. For errors above marked with “”, no RSSI level will be available, as the error isn’t triggered by direct reception of an acoustic message.

  • Page 97: Cid_Xcvr_Rx_Msg

    SeaTrac Serial Command Interface Reference 7.6.4. CID_XCVR_RX_MSG The CID_XCVR_RX_MSG status message is generated when the acoustic transceiver has received a valid general message from another beacon that does not require a reply or acknowledgment. After issuing this status message, the acoustic message is passed to the appropriate protocol handler in the acoustic protocol stack, which may generate further messages.

  • Page 98: Cid_Xcvr_Rx_Req

    SeaTrac Serial Command Interface Reference 7.6.5. CID_XCVR_RX_REQ The CID_XCVR_RX_REQ status message is generated when the acoustic transceiver has received a valid request message from another beacon that will require a reply constructing and transmitting back. After issuing this status message, the acoustic message is passed to the appropriate protocol handler in the acoustic protocol stack, which may generate further messages.

  • Page 99: Cid_Xcvr_Rx_Resp

    SeaTrac Serial Command Interface Reference 7.6.6. CID_XCVR_RX_RESP The CID_XCVR_RX_RESP status message is generated when the acoustic transceiver has received a valid response to a request message it transmitted earlier. After issuing this status message, the acoustic message is passed to the appropriate protocol handler in the acoustic protocol stack, which may generate further messages.

  • Page 100: Cid_Xcvr_Rx_Unhandled

    SeaTrac Serial Command Interface Reference 7.6.7. CID_XCVR_RX_UNHANDLED The CID_XCVR_RX_UNHANDLED status message is generated when the acoustic transceiver has received a message with a payload protocol identifier that it does not know how to handle within its acoustic protocol stack. This message is a status message that may be sent by the beacon at any time (not in response to a command message) depending on acoustic activity triggering a transceiver event.

  • Page 101: Cid_Xcvr_Usbl

    SeaTrac Serial Command Interface Reference 7.6.8. CID_XCVR_USBL The CID_XCVR_USBL status message is generated when the acoustic transceiver has received a message that contains a USBL signal, from which incoming signal angle information can be computed. The message contents are design to assist with diagnosing the validity of acoustic signals, and debug causes of reception/decoding failure.
  • Page 102 SeaTrac Serial Command Interface Reference CHANNEL_RSSI INT16[x] An array of the received signal strengths for each of the USBL receiver channels, where “x” is the value defined by the CHANNELS field. Values are encoded in centi-Bels, so divide by 10 to obtain a value in decibels to a resolution of 0.1dB.

  • Page 103: Cid_Xcvr_Fix

    SeaTrac Serial Command Interface Reference 7.6.9. CID_XCVR_FIX The CID_XCVR_FIX status message is generated when the acoustic transceiver has received a message from which information about the remote beacons position can be determined. If the received acoustic message MSG_TYPE field is either MSG_OWAYU, MSG_RESPU or MSG_RESPX, then the received USBL signal information can be used to compute the incoming angle of the message.

  • Page 104: Cid_Xcvr_Status

    SeaTrac Serial Command Interface Reference 7.6.10. CID_XCVR_STATUS The CID_XCVR_STATUS command can be used to determine the current operating state of the acoustic transceiver modules. It is particularly useful to use prior to issuing other commands that may start transmissions (i.e. CID_PING_SEND, CID_ECHO_SEND etc.) to check that the transceiver is currently in the IDLE state and can perform the operation.

  • Page 105: Acoustic Protocol Stack Message Definitions

    SeaTrac Serial Command Interface Reference 8. Acoustic Protocol Stack Message Definitions 8.1. PING Protocol Messages The acoustic PING protocol provides a set of commands and status messages that can be used to determine the presence of other beacons, and obtain range and position values for the remote “pinged”...

  • Page 106: Cid_Ping_Send

    SeaTrac Serial Command Interface Reference 8.1.1. CID_PING_SEND The CID_PING_SEND command is issued to perform an acoustic “ping” on another beacon, from which its range and position can be determined. For positioning, acoustic PING messages are the shortest of all the protocols available, requiring the least power consumption on the transmitter and allowing the fastest operation when polling round a network.
  • Page 107 SeaTrac Serial Command Interface Reference Response Message Parameters Parameter Type Description MSG_ID CID_E Command identification code (CID_PING_SEND) STATUS CST_E Status code used to indicate if the command executed successfully. Valid values are… The PING command is being sent.  CST_OK The DEST_ID parameter is invalid.

  • Page 108: Cid_Ping_Req

    SeaTrac Serial Command Interface Reference 8.1.2. CID_PING_REQ The CID_PING_REQ status message is generated when the beacon received an acoustic PING message from the sending beacon. This message is provided by the protocol-handler in the beacon for information purposes only, and no action or acknowledgment by the external system/user is required.

  • Page 109: Cid_Ping_Error

    SeaTrac Serial Command Interface Reference 8.1.4. CID_PING_ERROR The CID_PING_ERROR status message is generated when a PING operation is not successful, usually because a response is not received from the remote interrogated beacon, causing a timeout. This message is a status message that may be sent by the beacon at any time (not in response to a command message) depending on acoustic activity triggering a transceiver event.

  • Page 110: Echo Protocol Messages

    SeaTrac Serial Command Interface Reference 8.2. ECHO Protocol Messages The ECHO protocol is primarily intended for testing and validating remote beacons functionality and diagnosing problems with acoustic communications. The CID_ECHO_SEND command is used to start an ECHO transmission, where a user specified payload of up to 31 bytes is sent to the remote beacon.
  • Page 111 SeaTrac Serial Command Interface Reference MSG_TYPE AMSGTYPE_E Value specifying the type of data message that should be sent Valid values are…  MSG_REQ Data is sent as a request message, but no USBL information is required. As no USBL signal information is transmitted, but a response is returned, ranging information will be available for the remote beacon.

  • Page 112: Cid_Echo_Req

    SeaTrac Serial Command Interface Reference 8.2.2. CID_ECHO_REQ The CID_ECHO_REQ status message is generated when the beacon received an acoustic ECHO message from the sending beacon. This message is provided by the protocol-handler in the beacon for information purposes only, and no action or acknowledgment by the external system/user is required.

  • Page 113: Cid_Echo_Resp

    SeaTrac Serial Command Interface Reference 8.2.3. CID_ECHO_RESP The CID_ECHO_RESP status message is generated by the sending beacon when it receives an ECHO response back from the remote beacon. The payload of the response message should carry a duplicate copy of the data that was transmitted with the CID_ECHO_SEND command.

  • Page 114: Cid_Echo_Error

    SeaTrac Serial Command Interface Reference 8.2.4. CID_ECHO_ERROR The CID_ECHO_ERROR status message is generated when an ECHO operation is not successful, usually because a response is not received from the remote interrogated beacon, causing a timeout. This message is a status message that may be sent by the beacon at any time (not in response to a command message) depending on acoustic activity triggering a transceiver event.

  • Page 115: Dat Protocol Messages

    SeaTrac Serial Command Interface Reference 8.3. DAT Protocol Messages The DAT (or datagram) protocol forms the basis for any data exchange between pairs of SeaTrac Beacons. When the controlling system or user, issues a CID_DAT_SEND command, a packet of up to 31 bytes is transmitted to the specified beacon.

  • Page 116: Cid_Dat_Send

    SeaTrac Serial Command Interface Reference 8.3.1. CID_DAT_SEND The CID_DAT_SEND command is issued to send a packet of data to another remote beacon, optionally requesting that the remote beacon acknowledge reception of the data. If the command requires an acknowledgement (ACK), then at some point later upon reception of the response message a CID_DAT_RECEIVE message will be output containing the ACK flag...
  • Page 117 SeaTrac Serial Command Interface Reference  MSG_OWAYU Data is sent one-way with a USBL signal request, but no response acknowledgment is required. As a USBL signal is transmitted with the data, the remote beacon can determine incoming signal angle, but not range or position. ...

  • Page 118: Cid_Dat_Receive

    SeaTrac Serial Command Interface Reference 8.3.2. CID_DAT_RECEIVE The CID_DAT_RECEIVE status message is generated when the beacon received a DAT protocol data packet from another beacon. Additionally, this message will be issued upon reception of an acknowledgement response back from a remote beacon if the CID_DAT_SEND command specified its MSG_TYPE value to be either MSG_RESP, MSG_RESPU or MSG_RESPX.

  • Page 119: Cid_Dat_Error

    SeaTrac Serial Command Interface Reference 8.3.3. CID_DAT_ERROR The CID_DAT_ERROR status message is generated when a DAT operation is not successful, usually because a response is not received from the remote interrogated beacon, causing a timeout. This message will only be generated if the CID_DAT_SEND command specified its MSG_TYPE field to be MSG_REQ, MSG_REQU or MSG_REQX, as only these modes allow the remote...

  • Page 120: Cid_Dat_Queue_Set

    SeaTrac Serial Command Interface Reference 8.3.4. CID_DAT_QUEUE_SET The CID_DAT_QUEUE_SET command is used to store (queue) a single packet of data in the beacon, that will be held until an acoustic CID_DAT_SEND message from another beacon is received that requires a response from a specific. The DAT queue only holds one packet.

  • Page 121: Cid_Dat_Queue_Clr

    SeaTrac Serial Command Interface Reference 8.3.5. CID_DAT_QUEUE_CLR The CID_DAT_QUEUE_CLR command is used to clear any packed that has been queued for remote retrieval by the DAT protocol, using the CID_DATA_QUEUE_SET command. Command Message Parameters Parameter Type Description MSG_ID CID_E Command identification code (CID_DAT_QUEUE_CLR) Response Message Parameters Parameter...

  • Page 122: Cid_Dat_Queue_Status

    SeaTrac Serial Command Interface Reference 8.3.6. CID_DAT_QUEUE_STATUS The CID_DAT_QUEUE_STATUS command is used to determine if any packet is queued and waiting for remote retrieval by the DAT protocol in response to a CID_DAT_SEND command. The number of bytes in the packet payload is returned in response to this command, and when the packet has been delivered, this value is reported as 0, indicating empty (and another packet can be queued).

  • Page 123: Nav Protocol Messages

    SeaTrac Serial Command Interface Reference 8.4. NAV Protocol Messages The Navigation protocol builds on the basic range and positioning information produced by the acoustic transceiver, to provide a set of commands useful for incorporating into tracking and navigation systems. As standard, the NAV protocol uses enhanced USBL fixes where the remote beacons depth is transmitted in the response message.
  • Page 124 SeaTrac Serial Command Interface Reference DEST_ID BID_E The ID code of the beacon to send the Echo request to, and receive position and ranging information for. Valid values are form 1 to 15. QUERY_FLAGS NAV_QUERY_T Bit mask that contains the fields the CID_NAV_QUERY_RESP status message should return.

  • Page 125: Cid_Nav_Query_Req

    SeaTrac Serial Command Interface Reference 8.4.2. CID_NAV_QUERY_REQ The CID_NAV_QUERY_REQ status message is generated when the beacon received an acoustic NAV message from the sending beacon. This message is provided by the protocol-handler in the beacon for information purposes only, and no action or acknowledgment by the external system/user is required.

  • Page 126: Cid_Nav_Query_Resp

    SeaTrac Serial Command Interface Reference 8.4.3. CID_NAV_QUERY_RESP The CID_NAV_QUERY_RESP status message is generated when the beacon receives back a message from the remote beacon in response to a CID_NAV_QUERY_SEND command. In the response, the requested remote beacons information specified by the QUERY_FLAGS parameter is encoded, and output via this message.
  • Page 127 SeaTrac Serial Command Interface Reference Supply Fields If the message QUERY_FLAGS parameter contains the QRY_SUPPLY bit (see NAV_QUERY_T), then the following fields are sequentially appended to the message record… REMOTE_SUPPLY UINT16 The remote beacons supply voltage. Values are encoded in milli-volts, so divide by 1000 for a value in Volts.

  • Page 128: Cid_Nav_Error

    SeaTrac Serial Command Interface Reference 8.4.4. CID_NAV_ERROR The CID_NAV_ERROR status message is generated when an NAV operation is not successful, usually because a response is not received from the remote interrogated beacon (causing a timeout) or a malformed payload has been decoded. This message is a status message that may be sent by the beacon at any time (not in response to a command message) depending on acoustic activity triggering a transceiver event.

  • Page 129: Cid_Nav_Ref_Pos_Send

    SeaTrac Serial Command Interface Reference 8.4.5. CID_NAV_REF_POS_SEND The CID_NAV_REF_POS_SEND message is used to broadcast the reference position of the local beacon (defined by Latitude and Longitude) to all other beacons capable of receiving the message. This message allows a USBL beacon forming part of an acoustic tracing system, to occasionally transmit its own position as a world referenced coordinate to all other surrounding beacons.

  • Page 130: Cid_Nav_Ref_Pos_Update

    SeaTrac Serial Command Interface Reference 8.4.6. CID_NAV_REF_POS_UPDATE The CID_NAV_REF_POS_UPDATE message is generated when the beacon receives acoustic information sent from another beacon with the CID_NAV_REF_POS_SEND command. On reception of the message, the acoustic payload is decoded and the transmitted Latitude/Longitude position for the specified beacon is output from the serial port. The connected host system may then use this information to convert previously send NED coordinates to world coordinates by treading the latitude and longitude as the original of the NED grid.

  • Page 131: Cid_Nav_Beacon_Pos_Send

    SeaTrac Serial Command Interface Reference 8.4.7. CID_NAV_BEACON_POS_SEND The CID_NAV_BEACON_POS_SEND message is used to broadcast a position of a beacon (defined as Northing, Easting and Depth) to all other beacons capable of receiving the message. This message allows a USBL beacon forming part of an acoustic tracing system, to perform sequential Queries or Pings to the other remote beacons that require tracking (using command like CID_NAV_QUERY_SEND...
  • Page 132 SeaTrac Serial Command Interface Reference POSITION_DEPTH INT16 The vertical Depth distance component of the remote beacon from the surface - computed from the range, incoming signal angle, local beacon depth, attitude and magnetic heading. This value must be encoded in deci-meters, so multiply the meters distance by 10 and truncate as an integer.

  • Page 133: Cid_Nav_Beacon_Pos_Update

    SeaTrac Serial Command Interface Reference 8.4.8. CID_NAV_BEACON_POS_UPDATE The CID_NAV_BEACON_POS_UPDATE message is generated when the beacon receives acoustic information sent from another beacon with the CID_NAV_BEACON_POS_SEND command. On reception of the message, the acoustic payload is decoded and the transmitted Northing/Easting/Depth position for the specified beacon is output from the serial port. The connected host system may then use this information to update tracking tables/records as required for all other beacons in the network being interrogated by the USBL controller.
  • Page 134 SeaTrac Serial Command Interface Reference divide the value by 10 to obtain a distance in metres. POSITION_DEPTH INT16 The vertical Depth distance component of the beacon specified by BEACON_ID relative to the USBL head (or sender of this message). This value must be encoded in deci-meters, so divide the value by 10 to obtain a distance in metres.

  • Page 135: Dex Protocol Messages

    SeaTrac Serial Command Interface Reference 8.5. DEX Protocol Messages The Data Exchange protocol build on the simple data transfer functions provided by the DAT protocol to provide additional features including…  Bi-directional data transfer within a single request-response message exchange ...

  • Page 136: Beacon Definitions And Frames Of Reference

    SeaTrac Serial Command Interface Reference 9. Beacon Definitions and Frames Of Reference The diagrams below show the definitions of the SeaTrac Beacon’s frames-of-reference… 9.1. Attitudes (Yaw, Pitch and Roll) For rotation and orientation, the beacon uses the following axis definitions. These follow the same standard as those used to define aircraft attitudes and rotations, allowing the “right-hand-rule”...

  • Page 137: Usbl Spherical Angles (Azimuth And Elevation)

    SeaTrac Serial Command Interface Reference 9.2. USBL Spherical Angles (Azimuth and Elevation) On X150 beacons, for resolving incoming USBL signals, positive azimuths are defined as being a positive rotation around the yaw axis (complying with the right-hand-rule). Positive elevations are defined as being above the beacons horizontal plane (defined by the XY axis pair), while negative elevations are defined as being below it.

  • Page 138: Usbl Local Relative Position Coordinates

    SeaTrac Serial Command Interface Reference 9.3. USBL Local Relative Position Coordinates On X150 beacons, having resolved the range and incoming USBL signal angle (as an azimuth and elevation), the position of the remote beacon in the beacon’s local frame of reference is computed (in metres) and defined in the coordinate frame shown below…...
  • Page 140 Distributor… www.blueprintsubsea.com Blueprint Subsea, The Clock Tower Business Centre, Low Wood, Ulverston, Cumbria, LA12 8LY, UK...

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