External Depth Packet; Geoid Height Packet; Rtcm Corrections Packet - Advanced Navigation Spatial Reference Manual

13.9.34

External Depth Packet

Packet ID
Length
Field Bytes
# Offset
1 0
2 4
Table 78: External depth packet
13.9.35

Geoid Height Packet

This packet provides the offset at the current location between the WGS84 ellipsoid
and the EGM96 geoid model. This can be used to determine the current height above
mean sea level and also depth through the following equations:
Height Above Mean Sea Level = WGS84 Height – Geoid Height
Depth = Geoid Height – WGS84 Height
WGS84 Height is the height at the current location in the System State packet.
Packet ID
Length
Field Bytes
# Offset
1 0
Table 79: Geoid height packet
13.9.36

RTCM Corrections Packet

This packet is used to encapsulate RTCM v3 differential and RTK correction data to be
sent to Spatial's internal GNSS receiver for differential and RTK GNSS functionality.
Packet ID
Length
Field Bytes
# Offset
1 0
Table 80: RTCM corrections packet
External Depth Packet
Data Size
Type
fp32 4
fp32 4
Geoid Height Packet
Data Size
Type
fp32 4
RTCM Corrections Packet
Data Size
Type
Spatial Reference Manual
Page 133 of 158
Version 4.4
04/06/2019
53
8
Description
Depth (m)
Depth standard deviation (m)
54
4
Description
Geoid height (m)
55
Variable, up to 255 bytes
Description
RTCM corrections data