IV. PART 4 : LIBRARY INTERFACE
USER GUIDE
OCTANS III
NA
VIG
ATI
ON
&
PO
SITI
ON
ING
OCTANS User Guide
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TABLE OF CONTENTS
IV.1 Introduction....................................................................................................................................... IV-7
IV.2 Required environment ..................................................................................................................... IV-7
IV.3 OCTANS Library Interface Upgrade. ..............................................................................................IV-7
IV.4 How to use this document............................................................................................................... IV-8
IV.5 Digital interfaces .............................................................................................................................. IV-9 IV.5.1 Quick guide to output protocols..................................................................................................... IV-9 IV.5.2 OCTANS STATUS ($PHINF,hhhhhhhh).....................................................................................IV-10
IV.5.2.1 Description of status word......................................................................................................IV-10 IV.5.2.2 Flags definition: ......................................................................................................................IV-11
IV.5.3 NMEA Cheksum..........................................................................................................................IV-13 IV.5.4 Important Note.............................................................................................................................IV-13 IV.5.5 Detailed list of protocols ..............................................................................................................IV-14
IV.5.5.1 Output protocols:....................................................................................................................IV-14 OCTANS STD 1..................................................................................................................................IV-16 DCN Standard Nav 1 ..........................................................................................................................IV-18 AMS ....................................................................................................................................................IV-20 Anschutz Std20...................................................................................................................................IV-21 Atlas Fansweep 20 .............................................................................................................................IV-22 IG03 ....................................................................................................................................................IV-23 B&A custom 1 .....................................................................................................................................IV-24 B&A custom 2 .....................................................................................................................................IV-25 GYROCOMPAS 1...............................................................................................................................IV-27 GYROCOMPAS 2...............................................................................................................................IV-28 HAM CUSTOM ...................................................................................................................................IV-29 HDMS Thomson .................................................................................................................................IV-30 IFREMER Victor..................................................................................................................................IV-31 JAMSTEC/KAIKOU.............................................................................................................................IV-32 MDL (trim cube) ..................................................................................................................................IV-34 MDL 2..................................................................................................................................................IV-35 MOTION SENSOR 1 ..........................................................................................................................IV-36 MOTION SENSOR 2 ..........................................................................................................................IV-37 MOTION SENSOR 3 ..........................................................................................................................IV-38
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MOTION SENSOR 4 ..........................................................................................................................IV-39 NMEA HEHDT ....................................................................................................................................IV-41 NMEA HEHDT FIXED.........................................................................................................................IV-42 SIMRAD EM........................................................................................................................................IV-43 STOLT OFFSHORE ...........................................................................................................................IV-44 TCM 1/2 ..............................................................................................................................................IV-45 TMS CCV IMBAT................................................................................................................................IV-46 TOKIMEC PTVF .................................................................................................................................IV-48 TOKIMEC PTVF .................................................................................................................................IV-48 TOKIMEC PTVG.................................................................................................................................IV-50 TSS1/DMS ..........................................................................................................................................IV-51 TSS335B.............................................................................................................................................IV-52
IV.5.5.2 Input protocols........................................................................................................................IV-53 DCN Standard Nav 1 ..........................................................................................................................IV-54 DCN Std Loch .....................................................................................................................................IV-55 NMEA --GGA ......................................................................................................................................IV-56 NMEA --VTG.......................................................................................................................................IV-57 NMEA --VHW--GLL.............................................................................................................................IV-58 NMEA --VTG--GGA ............................................................................................................................IV-59 AMS ....................................................................................................................................................IV-60 IG03 ....................................................................................................................................................IV-61
IV.6 Analog interfaces ...........................................................................................................................IV-62 HEADING –180+180...........................................................................................................................IV-63 HEADING 0+360.................................................................................................................................IV-63 HEADING -270+90 .............................................................................................................................IV-64 HEADING –90+270.............................................................................................................................IV-64 HEADING (+)0+360 ............................................................................................................................IV-65 ROLL...................................................................................................................................................IV-66 PITCH .................................................................................................................................................IV-66 COSINE (HEADING) ..........................................................................................................................IV-67 SINE (HEADING)................................................................................................................................IV-67 SINE (ROLL).......................................................................................................................................IV-68 SINE (PITCH)......................................................................................................................................IV-68 HEAVE................................................................................................................................................IV-69 SURGE ...............................................................................................................................................IV-69 SWAY..................................................................................................................................................IV-70 HEAVE SPEED...................................................................................................................................IV-70 SURGE SPEED ..................................................................................................................................IV-71
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SWAY SPEED ....................................................................................................................................IV-71
IV.7 Pulse interfaces..............................................................................................................................IV-72 LOG.....................................................................................................................................................IV-73 SEROUT X SYNCHRO.......................................................................................................................IV-74 SEROUT X RTC .................................................................................................................................IV-75
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IV.1 INTRODUCTION
The Octans Interface Library is part of the standard Octans delivery.
The library is expanding with time, in order to answer all our customers requests. Please contact Ixsea
technical support for information about the last version of the library.
IV.2 REQUIRED ENVIRONMENT
The Octans Interface Library must be used with the Octans Repeater Software. Some protocols are hard
coded into OCTANS, some protocols for serial output are downloaded from the Library into OCTANS on
demand through the Repeater Software (refer to Part 3 of OCTANS III User Guide for serial interface
configuration).
IV.3 OCTANS LIBRARY INTERFACE UPGRADE.
This document lists all protocols delivered as a standard with OCTANS III. Some protocols may be updated,
or new protocols proposed by iXSea. When these protocols are of UDP type, it is possible to upgrade them
very simply, by copying a text file into the Library sub folder of the OCTANS Repeater folder on your PC
(see figure below).
Default folder for Data Log record
Default folder for Octans Log record
Default folder for configuration files record
UDP protocol Library Folder
Figure IV-1 : OCTANS Repeater Directory List
Updated or new protocols may be provided to you by iXSea customer support as text files, to be copied
directly into the OCTANS Repeater Library folder. Once this is performed, these protocols are available for
OCTANS serial interface configuration.
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IV.4 HOW TO USE THIS DOCUMENT
The document is divided into three parts:
• Digital Interfaces:
• Analog Interfaces
• Pulses Interfaces
Each part contains a listing, a quick description and a detailed description of each specific protocol.
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IV.5 DIGITAL INTERFACES
IV.5.1 QUICK GUIDE TO OUTPUT PROTOCOLS
Please use the table below to quickly select the output protocol that best suits your application.
PARAMETER DC
N s
tdan
dard
Nav
1 A
MS
An
schu
tz S
td20
A
tlas
Fans
wee
p 20
IG
03
B&
A c
usto
m1
B&
A c
usto
m 2
GY
RO
CO
MPA
S 1
G
YR
OC
OM
PAS
2
HA
M c
usto
m
HD
MS
Tho
mso
n Ifr
emer
VIC
TOR
Ja
mst
ec/K
aiko
u M
DL
(trim
cub
e)
MD
L2
MO
TIO
N S
ENSO
R 1
M
OTI
ON
SEN
SOR
2
MO
TIO
N S
ENSO
R 3
M
OTI
ON
SEN
SOR
4
NM
EA
HEH
DT
NM
EA
HEH
DT
FIXE
D
OC
TAN
S S
TD1
SIM
RA
D E
M
Sto
lt O
ffsho
re
TCM
1/2
TM
S C
CV
IMBA
T TO
KIM
EC P
TVF
TOK
IMEC
PTV
G
TSS
1/D
MS
TS
S35
5B
HEADING X X X X X X X X X X X X X X X X X X X X X X X X X X
ROLL X X X X X X X X X X X X X X X X X X X X X X X X X X
PITCH XX X X X X X X X X X X X X X X X X X X X X X X X X X
HEAVE X X X X X X X X X X X X X X X X X
SURGE X X X X X X
SWAY X X X X X X
LINEAR SPEED Heave X X X X X
LINEAR SPEED Surge X X X X X
LINEAR SPEED Sway X X X X X
ACCELERATION Heave X X X X X
ACCELERATION Surge X X X
ACCELERATION Sway X X X ACCELERATION horizontal X X X
Roll Speed /Rate X X X X X X
Pitch Speed / Rate X X X X X X
Heading or yaw Speed / Rate X X X X X X X
Latitude X X X X
Speed of the vessel X X X X
Heave without lever arm
Surge without lever arm
Sway without lever arm
Linear speed heave without LVA
X
Linear speed Surge without LVA X
Linear speed Sway without LVA X
Number of turns since last reset X X
$ PHINF : IXSEA STATUS X X X X X X X X X X
Other status message X X X X X X X X X XSYNTAX
NMEA 0183 X X X X X X X X X X X X X X X Binary X X X X X X X X X ASCII X X X X X XHexa X
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IV.5.2 OCTANS STATUS ($PHINF,HHHHHHHH)
IV.5.2.1 DESCRIPTION OF STATUS WORD
The OCTANS Status is a 32 bits word which acts as a built-in test and control of system. Different OCTANS
modes as well as optical and electrical sub-parts status are monitored in real time through dedicated flags.
Each flag is a bit which is set to “1” when flag is ON and set to “0” when flag is OFF.
The Octans status word is 32 bits long, coded with 8 hexadecimal characters in the “$PHINF,hhhhhhhh”
NMEA sentence. Its value is also displayed in the “STATUS” panel of the “OCTANS repeater”.
STATUS
Hexa value
Binary
value Flag Name
Bit 0 Heading unvalid
Bit 1 Roll unvalid
Bit 2 Pitch unvalid 0xhhhhhhhh
Bit 3 Heave Init
Bit 4 reserved
Bit 5 Octans alignment
Bit 6 Config saved 0xhhhhhhhh
Bit 7 Computation overload
Bit 8 FOG X1 Anomaly
Bit 9 FOG X2 Anomaly
Bit 10 FOG X3 Anomaly 0xhhhhhhhh
Bit 11 Fog acq error
Bit 12 Acc X1 anomaly
Bit 13 Acc X2 anomaly
Bit 14 Acc X3 anomaly 0xhhhhhhhh
Bit 15 Sensor error
STATUS
Hexa value
Binary
value Flag Name
Bit 16 Serial inA error
Bit 17 Serial inB error
Bit 18 Serial inC error 0xhhhhhhhh
Bit 19 Output overloaded
Bit 20 Serial outA full
Bit 21 Serial outB full
Bit 22 Serial outC full 0xhhhhhhhh
Bit 23 Serial outD full
Bit 24 Manual log used
Bit 25 Manual lat used
Bit 26 reserved 0xhhhhhhhh
Bit 27 H, R or P not valid
Bit 28 reserved
Bit 29 reserved
Bit 30 reserved 0xhhhhhhhh
Bit 31 Restart system
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IV.5.2.2 FLAGS DEFINITION:
FLAG CONCERNING DATA (HEADING, ROLL, …) ACCURACY Heading unvalid Roll unvalid Pitch unvalid Heading, Roll or Pitch unvalid
during alignment sequence if wrong latitude or speed is used after a hard shock
in case of sensor (FOG or accelerometer) error Octans alignment during alignment sequence Heave init
mainly during alignment sequence
when initializing the Heave filter (during 300 seconds after end of alignment)
INTERFACING – SYSTEM FLAGS
Serial inA error Serial inB error Serial inC error
Wrong input link configuration (baudrate, or parity, or stop bit)
Serial outA full Serial outB full Serial outC full
Output baudrate too low for selected sample period and protocol
Manual latitude used
OCTANS is using the manually settled latitude (stored in memory)
User have updated the manual latitude
Manual log used
OCTANS uses the manually settled speed (in memory) (default mode)
External speed sensor (GPS, DVL, …) update frequency < 0,1Hz
Configuration saved Once the configuration has been saved into PROM Restart System When system is restarted with a software command
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ERROR FLAGS FOG X1 Anomaly FOG X2 Anomaly FOG X3 Anomaly
Lost of a FOG sensor data (processor acquisition) Heavy shock on the system
FOG built-in test detected an error Accelerometer X1 Anomaly Accelerometer X2 Anomaly Accelerometer X3 Anomaly
Lost of some data from the accelerometer (processor acquisition) Shock on a system
Accelerometer X error Fog Acq error FOG data acquisition error (internal transmission)
Sensor error (display min period 30sec.) Error on One of the sensors
(redundancy with bit 8 or 9 or 10 or 11 or 12 or 13 or 14 or 26)
Computation overload
Overload on the DSP. To avoid it : reduce the sample period of some COM ports
DSP defective
Output overload Input / Output configuration is too heavy To avoid it: reduce some sample period or
change some protocol
NOTA:
Each flag is displayed for at least 10 seconds even if the anomaly lasted for much less than 10 seconds.
Example: the flag “FOG X2 Anomaly” is displayed during 10 seconds even if the error occurred only on one
internal cycle (10ms). This does not mean that, during 10 seconds, the FOG was defective.
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IV.5.3 NMEA CHEKSUM
An usual NMEA sentence is formatted as follows : $aaccc,c … c*hh<CR><LF>
The “hh” is the checksum of the sentence, and allows for a control during data transmission, to check if
there is any missing or corrupted field.
This checksum is the absolute value calculated by exclusive-OR’ing the 8 data bits (no start bits or stop bits)
of each character in the sentence, but excluding “$” and “*”. The hexadecimal value of the most significant
and least significant 4 bits of the result are converted to two ASCII (0-9, A-F). The most significant character
is transmitted first. The checksum field is required in all transmitted sentences
IV.5.4 IMPORTANT NOTE
The resolution of all rotation rate data is limited to 36 deg/h and acceleration data is limited to 1 mg, to comply with export regulations.
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IV.5.5 DETAILED LIST OF PROTOCOLS
IV.5.5.1 OUTPUT PROTOCOLS:
Hard-coded :
OCTANS STD1
DCN Standard Nav 1
DCN Standard Nav 10
AMS
Anschutz Std20
Atlas Fansweep 20
IG03
CGS04
From the library:
B&A custom1
B&A custom2
Gyrocompas 1
Gyrocompas 2
Ham custom
HDMS Thomson
Ifremer Victor
Jamstec/Kaikou
MDL (trim cube)
MDL2
Motion Sensor 1
Motion Sensor 2
Motion Sensor 3
Motion Sensor 4
NMEA HEHDT
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NMEA HEHDT FIXED
SIMRAD EM
Stolt offshore
TCM 1/2
TMS CCV Imbat
Tokimec PTVF
Tokimec PTVG
TSS1/ DMS
TSS 355 B
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OCTANS STD 1
• Standard: Output NMEA 0183 compatible
• Data sent: Heading
Roll
Pitch
Position
Linear speed
Compensation values
Status
• Data frame:
$HEHDT,x.xx,T*hh<CR><LF> where: x.xx is the true heading in degrees
hh is a checksum
$PHTRO,x.xx,a,y.yy,b*hh<CR><LF> where: x.xx is the pitch in degrees
a is ‘M’ for bow up
a is ‘P’ for bow down
y.yy is the roll in degrees
b is ‘B’ for port down
b is ‘T’ for port up
$PHLIN,x.xxx,y.yyy,z.zzz*hh<CR><LF> where: x.xxx is the surge (X1) in meters (signed)
y.yyy is the sway (X2) in meters (signed)
z.zzz is the heave (X3) in meters (signed)
$PHSPD,x.xxx,y.yyy,z.zzz*hh<CR><LF> where: x.xxx is the X1 speed in m.s-1 (signed)
y.yyy is the X2 speed in m.s-1 (signed)
z.zzz is the X3 speed in m.s-1 (signed)
$PHCMP,llll.ll,a,xx.xx,b,N*hh<CR><LF> where: llll.ll is the latitude in degrees (two first l) and in minutes (four last l)
a is ‘N’ for Northern hemisphere
a is ‘S’ for Southern hemisphere
xx.xx is the speed in knots
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$PHINF,hhhhhhhh*hh<CR><LF> where: hhhhhhhh is the hexadecimal value of Octans status
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DCN STANDARD NAV 1
• Standard: DCN Nav protocol 100ms network
(Spec DCN n° 19187 LSM/NAV June 96)
• Data sent: Heading
Roll
Pitch
Heave
Log, Latitude
• Data frame:
The protocol contains two frames. The first one is sent nine time and the second
one 1 time over 10
The first frame contains 27 bytes in binary format with header.
Data Length Type Description
Header 2 Binary Byte 0: 27 Byte 1: 10010xxx (binary) Bit 2 : Alignment mode Bit 1 : Anomaly Bit 0 : data not valid
Status 1 Binary 00x101x1 (binary) Bit 5 : Manual log used Bit 1 : Manual latitude used
Hour 4 Binary Unused, set to 0 Ageing 1 Binary Unused, set to 4 ms
Heading 3 Binary MSB: 180 degrees Roll 3 Two complement MSB: 90 degrees Pitch 3 Two complement MSB: 90 degrees
Latitude 3 Two complement MSB: 90 degrees Longitude 3 Two complement Unused, set to 0
North speed 2 Two complement Unused, set to 0 West speed 2 Two complement Unused, set to 0
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The second frame contains 40 bytes in binary format with header.
Data Length Type Description
Header 2 Binary Byte 0: 40 Byte 1: 10010xxx (binary) Bit 2 : Alignment mode Bit 1 : Anomaly Bit 0 : data not valid
Status 1 Binary 00x101x1 (binary) Bit 5 : Manual log used Bit 1 : Manual latitude used
Hour 4 Binary Unused, set to 0 Ageing 1 Binary Unused, set to 0
Heading 3 Binary MSB: 180 degrees Roll 3 Two com0plement MSB: 90 degrees Pitch 3 Two complement MSB: 90 degrees
Latitude 3 Two complement MSB: 90 degrees Longitude 3 Two complement Unused, set to 0
North speed 2 Two complement Unused, set to 0 West speed 2 Two complement Unused, set to 0
Date 2 Binary Unused, set to 0 Heave 2 Two complement MSB: 360 meters
Log speed 2 Two complement MSB: 120 knots Vertical speed 2 Two complement Unused, set to 0 Latitude stddev 1 Binary Unused, set to 0
Longitude stddev
1 Binary Unused, set to 0
Heading stddev 2 Binary Unused, set to 0 Position error 1 Binary Unused, set to 0
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AMS
• Standard: AMS
• Data sent: Heading
Pitch
Roll
Latitude
Status
• Data frame:
<CR><LF>
HEADING = hhh.hh<CR><LF>
XTILT = app.pp<CR><LF>
TILT = arr.rr<CR><LF>
LAT = dd:mm:ss a<CR><LF>
STATUS = sssss<CR><LF>
where: hhh.hh is the heading in degrees
app.pp is the pitch in degrees
a [+] front up / [-] front down
Warning : this convention is not the Octans usual convention (pitch
[+] rear up / pitch [-] rear down)
arr.rr is the roll in degrees
a [+] left side up / [-] left side down
dd:mm:ss is the latitude in degrees, minutes and seconds
a[N] for Northern hemisphere
a[S] for Southern hemisphere
sssss is a text string
VALID (heading, pitch and roll valid)
or NOT READY (alignment)
or FAIL (any other case)
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ANSCHUTZ STD20
• Standard: Anschutz Std20
• Data sent: Heading
Heading rate
Status
• Data frame: 18 bytes in binary format.
Byte 0 0x02 STX synchronisation byte
Byte 1 Byte 2
01hhhhhh 01hhhhhh
Heading MSB Heading LSB
MSB 180°
Byte 3 0x40
Byte 4 0x40 Byte 5 0x40 Byte 6 0x40
Byte 7 0x40 Byte 8 Byte 9
Byte 10
01s0xxxx 01xxxxxx 01xxxxxx
Heading rate in °/min Bit 5, s = Sign (0 if positive, 1 if negative) MSB = 2636.718°/min LSB = 0.08046°/min
Byte 11 Byte 12
010b000f 01g10100
Status b = 1 => Anomaly FOG or Accelerometer or Fifo full fg = 00 => Heading, Roll or Pitch not valid fg = 01 => Alignment fg = 11 => Default value
Byte 13 0x40 Byte 14 0x40 Byte 15 0x40
Byte 16 01cccccc Checksum FF XOR byte 1 to 15 AND 00111111 OR 010000000
Byte 17 0x03 ETX synchronisation byte
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ATLAS FANSWEEP 20
• Standard: Atlas Fansweep 20
• Data sent: Roll
Pitch
Heave
Status
• Data frame : The frame contains 9 bytes in binary format (MSB are sent first).
Data Length Description
DLE 1 byte 0x10
Roll 2 bytes Unsigned 16 bit, i.e. 0..65535 representing 360° with a resolution of 360°/65536 range 0..360°
Pitch 2 bytes Unsigned 16 bit, i.e. 0..65535 representing 360° with a resolution of 360°/65536 range 270°..90°
Heave 2 bytes Signed 16 bit range –32767 mm to + 32767 mm Sign ‘+’ when Octans goes up
Status 1 byte 0x06 for alignment fully settled 0x07 for alignment settling
DLE 1 byte 0x10
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IG03
• Standard: Output IG03
• Data sent: Heading
Latitude
Speed
Roll
Pitch
Status
• Data frame:
$HHH.H,N,XX<CR><LF>
where: HHH.H is the true heading in degrees
XX is a two digit hexadecimal status
bit 0 to bit 4 = 0
bit 5 = 1 for Heading not valid
bit 6 = 0
bit 7 = 1 for Alignment
$HHH.H,N,XX,aLL.L,SS,aRR.R,aPP.P<CR><LF>
where: HHH.H is the true heading in degrees
XX is a two digit hexadecimal status
bit 0 to bit 4 = 0
bit 5 = 1 for Heading not valid
bit 6 = 0
bit 7 = 1 for Alignment
aLL.L is the latitude in degrees
a[+] for Northern hemisphere
a[-] for Southern hemisphere
SS is the speed in knots
aRR.R is the roll angle in degrees
a[+] for port up/ [-] for port down.
aPP.P is the pitch angle in degrees
a[-] for bow up/ [+] for bow down
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B&A CUSTOM 1
• Standard: Output NMEA 0183 compatible
• Data sent: Heading
Roll
Pitch
Heave
Number of heading turn since the last reset
Status
• Data frame:
$HEHDT,x.xx,T*hh<CR><LF>
where: x.xx is the true heading in degrees
hh is a checksum
$PHTRH,x.xx,a,y.yy,b,z.zz,c*hh<CR><LF>
where: x.xx is the pitch in degrees
a is ‘M’ for bow up
a is ‘P’ for bow down
y.yy is the roll in degrees
b is ‘B’ for port down
b is ‘T’ for port up
z.zz is the heave in meters (absolute value)
c is ‘O’ if Octans goes up
c is ‘U’ if Octans goes down
$PHHRP,sxx.x,d,hhhhhhhh*hh<CR><LF>
where: x.xx is the number of heading turn since the last reset
s is ‘+’ for CW
s is ‘-’ for CCW
hhhhhhhh is the hexadecimal value of Octans status
please see “OCTANS STD 1” protocol for the signification of each bit.
OCTANS User Guide
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B&A CUSTOM 2
• Standard: Output NMEA 0183 compatible
• Data sent: Heading
Roll
Pitch
Position
Linear speed
Rotation rates
Number of heading turn since the last reset
Status
• Data frame:
$HEHDT,x.xx,T*hh<CR><LF> where: x.xx is the true heading in degrees
hh is a checksum
$PHTRO,x.xx,a,y.yy,b*hh<CR><LF>
where: x.xx is the pitch in degrees
a is ‘M’ for bow up
a is ‘P’ for bow down
y.yy is the roll in degrees
b is ‘B’ for port down
b is ‘T’ for port up
$PHLIN,x.xxx,y.yyy,z.zzz*hh<CR><LF>
where: x.xxx is the surge (X1) in meters (signed)
y.yyy is the sway (X2) in meters (signed)
z.zzz is the heave (X3) in meters (signed)
$PHSPD,x.xxx,y.yyy,z.zzz*hh<CR><LF>
where: x.xxx is the X1 speed in m.s-1 (signed)
y.yyy is the X2 speed in m.s-1 (signed)
z.zzz is the X3 speed in m.s-1 (signed)
OCTANS User Guide
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$PHROT,x.xxx,y.yyy,z.zzz*hh<CR><LF>
where: x.xxx is rotation rate around X1 axis in °.s-1 (signed)
y.yyy is rotation rate around X2 axis in °.s-1 (signed)
z.zzz is rotation rate around X3 axis in °.s-1 (signed)
$PHHRP,sxx,d,hhhhhhhh*hh<CR><LF>
where: xx is the number of heading turn since the last reset
s is ‘+’ for CW
s is ‘-’ for CCW
hhhhhhhh is the hexadecimal value of Octans status
please see “OCTANS STD 1” protocol for the signification of each bit.
OCTANS User Guide
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GYROCOMPAS 1
• Standard: Output NMEA 0183 compatible
• Data sent: Heading
Roll
Pitch
Status
• Data frame:
$HEHDT,x.xx,T*hh<CR><LF>
where: x.xx is the true heading in degrees
hh is a checksum
$PHTRO,x.xx,a,y.yy,b*hh<CR><LF>
where: x.xx is the pitch in degrees
a is ‘M’ for bow up
a is ‘P’ for bow down
y.yy is the roll in degrees
b is ‘B’ for port down
b is ‘T’ for port up
$PHINF, hhhhhhhh*hh<CR><LF>
where: hhhhhhhh is the hexadecimal value of Octans status
please see “OCTANS STD 1” protocol for the signification of each bit.
OCTANS User Guide
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GYROCOMPAS 2
• Standard: Output NMEA 0183 compatible
• Data sent: Heading
Roll
Pitch
Heave
Status
• Data frame:
$HEHDT,x.xx,T*hh<CR><LF>
where: x.xx is the true heading in degrees
hh is a checksum
$PHTRH,x.xx,a,y.yy,b,z.zz,c*hh<CR><LF>
where: x.xx is the pitch in degrees
a is ‘M’ for bow up
a is ‘P’ for bow down
y.yy is the roll in degrees
b is ‘B’ for port down
b is ‘T’ for port up
z.zz is the heave in meters (absolute value)
c is ‘U’ if Octans goes up
c is ‘O’ if Octans goes down
$PHINF,hhhhhhhh*hh<CR><LF>
where: hhhhhhhh is the hexadecimal value of Octans status
please see “OCTANS STD 1” protocol for the signification of each bit.
OCTANS User Guide
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HAM CUSTOM
• Standard: Output TSS proprietary protocol and Output NMEA 0183 frame
• Data sent: Roll
Pitch
Heave
Linear accelerations
Status
Heading
• Data frame:
The frame contains
• The TSS335B frame (please see “TSS335B” protocol)
• The NMEA HEHDT frame (please see “NMEA HEHDT” protocol)
OCTANS User Guide
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HDMS THOMSON
• Standard: Output HDMS system
• Data sent: Heading
Roll
Pitch
Heave
• Data frame:
The frame contains 10 bytes in binary format.
Message 00 90 RRRR PPPP hhhh HHHH Byte 0 0x00 Sync byte Byte 1 0x90 Sync byte Byte 2 Roll LSB Byte 3
0xRRRR Roll MSB
Roll ± 180° LSB : 0.01° Sign “+” when port up
Byte 4 Pitch LSB Byte 5
0xPPPP Pitch MSB
Pitch ± 180° LSB : 0.01° Warning: Opposite sign of Octans usual convention
Sign “+” when bow up Byte 6 Heave LSB Byte 7
0xhhhh Heave MSB
Heave ± 10 m LSB : 0.01m Sign “+” when Octans goes up
Byte 8 Heading LSB Byte 9
0xHHHH Heading MSB
Heading 0° to 360° LSB : 0.01°
Each data is “two complemented” coded except Heading.
OCTANS User Guide
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IFREMER VICTOR
• Standard: Output Ifremer proprietary protocol compatible with Seatex MRU6 system
• Data sent: Heading
Roll
Pitch
Rotation rates
Accelerations
• Data frame: The frame contains a header, 10 fields with 4 bytes in binary format per field and a
checksum.
Data are coded in IEEE floating point standard. LSB are sent fist and MSB in last
position.
Message <Q><n><id><F1><F2>…..<F8><F9><s>
Byte 0 ‘Q’ Sync Byte 1 0x29 Number of bytes : Fields and user id. (4*9 + 1 = 37) Byte 2 0x0C User id. Octans id is fixed to 12 Field 1
Bytes 3 to 6 Roll radians IEEE floating point format
Sign “+” when port up Field 2
Bytes 7 to 10 Pitch radians IEEE floating point format
Warning: Opposite sign of Octans usual convention
Sign “+” when bow up Field 3
Bytes 11 to 14 Heading radians IEEE floating point format
Field 4 Bytes 15 to 18
Roll speed radians per second IEEE floating point format
Field 5 Bytes 19 to 22
Pitch speed radians per second IEEE floating point format Warning: Opposite sign of Octans usual convention
Field 6 Bytes 23 to 26
Heading speed
radians per second IEEE floating point format Warning: Opposite sign of Octans usual convention
Field 7 Bytes 27 to 30
X1 acceleration
m/s2 IEEE floating point format
Field 8 Bytes 31 to 34
X2 acceleration
m/s2 IEEE floating point format Warning: Opposite sign of Octans usual convention
Field 9 Bytes 35 to 38
X3 acceleration
m/s2 IEEE floating point format Warning: Opposite sign of Octans usual convention
Field 10 Bytes 39 to 42
Spare = 0.0 IEEE floating point format
Byte 43 Checksum Addition of all the bytes for 0 to 42
OCTANS User Guide
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JAMSTEC/KAIKOU
• Standard: Output JAMSTEC Kaikou proprietary protocol
• Data sent: Heading
Roll
Pitch
Heave
Linear accelerations
Rotation rates
Status
• Data frame: the frame contains 24 bytes in binary format with an header and an “end of frame”
fields.
Message 00 90 RRRR PPPP hhhh HHHH X1X1 X2X2 X3X3 SRSR SPSP SHSH SS 91
Byte 0 0x00 Header LSB Byte 1 0x90 Header MSB Byte 2 Roll LSB Byte 3
0xRRRR Roll MSB
Roll ± 180° LSB : 180°/215 = 0.00549° Sign “+” when port up
Byte 4 Pitch LSB Byte 5
0xPPPP Pitch MSB
Pitch ± 180° LSB : 180°/215 = 0.00549° Sign “+” when bow up Warning: Opposite sign of Octans usual convention
Byte 6 Heave LSB Byte 7
0xhhhh Heave MSB
Heave ± 327 m LSB : 327/215 = 0.00997m Sign “+” when Octans goes down Warning: Opposite sign of Octans usual convention
Byte 8 Heading LSB Byte 9
0xHHHH Heading MSB
Heading 0° to 360° LSB : 360°/216 = 0.00549°
Byte 10 X1 acceleration LSB Byte 11
0xX1X1 X1 acceleration MSB
X1 acceleration ± 3.0g LSB : 3.0/215 = 91.6 µg
Byte 12 X2 acceleration LSB Byte 13
0xX2X2 X2 acceleration MSB
X2 acceleration ± 3.0g LSB : 3.0/215 = 91.6 µg Warning: Opposite sign of Octans usual convention
Byte 14 X3 acceleration LSB Byte 15
0xX3X3 X3 acceleration MSB
X3 acceleration ± 3.0g LSB : 3.0/215 = 91.6 µg Warning: Opposite sign of Octans usual convention
Byte 16 Roll speed LSB Byte 17
0xSRSR Roll speed MSB
Roll speed ± 60°/s LSB : 60/215 = 0. 00183 °/s
OCTANS User Guide
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Byte 18 Pitch speed LSB Byte 19
0xSPSP Pitch speed MSB
Pitch speed ± 60°/s LSB : 60/215 = 0.00183 °/s Warning: Opposite sign of Octans usual convention
Byte 20 Heading speed LSB Byte 21
0xSHSH Heading speed MSB
Heading speed ± 60°/s LSB : 60/215 = 0. 00183 °/s Warning: Opposite sign of Octans usual convention
Byte 22 0xSS Status 0xFF ⇒ OK 0xAA ⇒ alignment 0x00 ⇒ error
Byte 23 0x91 End of frame
Each data is “two complemented” coded except Heading.
The rotation speeds represent the vessel movements without the earth rotation.
The accelerations represent the vessel accelerations without the gravity.
Warning: The sign of data corresponds to Octans system reference described in the user guide except for
pitch, acceleration X2 , acceleration X3, pitch speed and heading speed.
OCTANS User Guide
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MDL (TRIM CUBE)
• Standard: Output MDL ASCII standard
• Data sent: Heading
Roll
Pitch
• Data frame:
HhhhhP±xxxxR±yyyy<CR><LF>
where: hhhh is the heading in degrees multiplied by 10
xxxx is the pitch in degrees multiplied by 100
yyyy is the roll in degrees multiplied by 100
OCTANS User Guide
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MDL 2
• Standard: Output MDL ASCII standard
• Data sent: Heading
Roll
Pitch
Gyro status
• Data frame:
HhhhhP±xxxxR±yyyyQ<CR><LF>
where: hhhh is the heading in degrees multiplied by 10
xxxx is the pitch in degrees multiplied by 100
yyyy is the roll in degrees multiplied by 100
Q is the gyro status as follows :
M Gyro alignment mode
E Gyro reports good data
N reports unvalid data
OCTANS User Guide
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MOTION SENSOR 1
• Standard: Output NMEA 0183 compatible
• Data sent: Heading
Roll
Pitch
Position
Status
• Data frame:
$HEHDT,x.xx,T*hh<CR><LF>
where: x.xx is the true heading in degrees
hh is a checksum
$PHTRO,x.xx,a,y.yy,b*hh<CR><LF>
where: x.xx is the pitch in degrees
a is ‘M’ for bow up
a is ‘P’ for bow down
y.yy is the roll in degrees
b is ‘B’ for port down
b is ‘T’ for port up
$PHLIN,x.xxx,y.yyy,z.zzz*hh<CR><LF>
where: x.xxx is the surge (X1) in meters (signed)
y.yyy is the sway (X2) in meters (signed)
z.zzz is the heave (X3) in meters (signed)
$PHINF,hhhhhhhh*hh<CR><LF>
where: hhhhhhhh is the hexadecimal value of Octans status
please see “OCTANS STD 1” protocol for the signification of each bit.
OCTANS User Guide
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MOTION SENSOR 2
• Standard: Output NMEA 0183 compatible
• Data sent: Heading
Roll
Pitch
Position
Linear speed
Status
• Data frame:
$HEHDT,x.xx,T*hh<CR><LF>
where: x.xx is the true heading in degrees
hh is a checksum
$PHTRO,x.xx,a,y.yy,b*hh<CR><LF>
where: x.xx is the pitch in degrees
a is ‘M’ for bow up
a is ‘P’ for bow down
y.yy is the roll in degrees
b is ‘B’ for port down
b is ‘T’ for port up
$PHLIN,x.xxx,y.yyy,z.zzz*hh<CR><LF>
where: x.xxx is the surge (X1) in meters (signed)
y.yyy is the sway (X2) in meters (signed)
z.zzz is the heave (X3) in meters (signed)
$PHSPD,x.xxx,y.yyy,z.zzz*hh<CR><LF>
where: x.xxx is the X1 speed in m.s-1 (signed)
y.yyy is the X2 speed in m.s-1 (signed)
z.zzz is the X3 speed in m.s-1 (signed)
$PHINF,hhhhhhhh*hh<CR><LF>
where: hhhhhhhh is the hexadecimal value of Octans status
please see “OCTANS STD 1” protocol for the signification of each bit.
OCTANS User Guide
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MOTION SENSOR 3
• Standard: Output NMEA 0183 compatible
• Data sent: Position
Linear speed
Status
• Data frame:
$PHLIN,x.xxx,y.yyy,z.zzz*hh<CR><LF>
where: x.xxx is the surge (X1) in meters (signed)
y.yyy is the sway (X2) in meters (signed)
z.zzz is the heave (X3) in meters (signed)
$PHSPD,x.xxx,y.yyy,z.zzz*hh<CR><LF>
where: x.xxx is the X1 speed in m.s-1 (signed)
y.yyy is the X2 speed in m.s-1 (signed)
z.zzz is the X3 speed in m.s-1 (signed)
$PHINF,hhhhhhhh*hh<CR><LF>
where: hhhhhhhh is the hexadecimal value of Octans status
please see “OCTANS STD 1” protocol for the signification of each bit.
OCTANS User Guide
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MOTION SENSOR 4
• Standard: Output NMEA 0183 compatible
• Data sent: Heading
Roll
Pitch
Position with and without lever arms compensation.
Linear speed with and without lever arms compensation.
Status
• Data frame:
$HEHDT,x.xx,T*hh<CR><LF>
where: x.xx is the true heading in degrees
hh is a checksum
$PHTRO,x.xx,a,y.yy,b*hh<CR><LF>
where: x.xx is the pitch in degrees
a is ‘M’ for bow up
a is ‘P’ for bow down
y.yy is the roll in degrees
b is ‘B’ for port down
b is ‘T’ for port up
OCTANS User Guide
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$PHPOS,x.xxx,y.yyy,z.zzz,X.XXX,Y.YYY,Z.ZZZ *hh<CR><LF>
where: x.xxx is the surge (X1) in meters (signed) with lever arms
compensation
y.yyy is the sway (X2) in meters (signed) with lever arms
compensation
z.zzz is the heave (X3) in meters (signed) with lever arms
compensation
X.XXX is the surge (X1) in meters (signed) without lever arms
compensation
Y.YYY is the sway (X2) in meters (signed) without lever arms
compensation
Z.ZZZ is the heave (X3) in meters (signed) without lever arms
compensation
$PHVIT,x.xxx,y.yyy,z.zzz, X.XXX,Y.YYY,Z.ZZZ *hh<CR><LF>
where: x.xxx is the X1 speed in m.s-1 (signed) with lever arms
compensation
y.yyy is the X2 speed in m.s-1 (signed) with lever arms
compensation
z.zzz is the X3 speed in m.s-1 (signed) with lever arms
compensation
X.XXX is the X1 speed in m.s-1 (signed) without lever arms
compensation
Y.YYY is the X2 speed in m.s-1 (signed) without lever arms
compensation
Z.ZZZ is the X3 speed in m.s-1 (signed) without lever arms
compensation
$PHINF,hhhhhhhh*hh<CR><LF>
where: hhhhhhhh is the hexadecimal value of Octans status
please see “OCTANS STD 1” protocol for the signification of each bit.
OCTANS User Guide
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NMEA HEHDT
• Standard: Output NMEA 0183
• Data sent: Heading
• Data frame:
$HEHDT,xxx.xx,T*hh<CR><LF>
where: xxx.xx is the true heading in degrees
hh is a checksum
OCTANS User Guide
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NMEA HEHDT FIXED
• Standard: Output NMEA 0183 except the number of digits.
• Data sent: Heading
• Data frame:
$HEHDT,xxx.x,T <CR><LF>
where: xxx.x is the true heading in degrees (3 digits before and 1 digit after the decimal point)
OCTANS User Guide
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SIMRAD EM
• Standard: Output Simrad proprietary protocol
• Data sent: Heading
Roll
Pitch
Heave
Status
• Data frame:
The frame contains 10 bytes in binary format.
Message SS 90 RRRR PPPP hhhh HHHH Byte 0 0xSS Sync byte
Sensor status 0x90 ⇒ OK 0x9A ⇒ alignment 0xA0 ⇒ error
Byte 1 0x90 Sync byte Byte 2 Roll LSB Byte 3
0xRRRR Roll MSB
Roll ± 180° LSB : 0.01° Sign “+” when port up
Byte 4 Pitch LSB Byte 5
0xPPPP Pitch MSB
Pitch ± 180° LSB : 0.01° Sign “+” when bow up Warning: Opposite sign of Octans usual convention
Byte 6 Heave LSB Byte 7
0xhhhh Heave MSB
Heave ± 10 m LSB : 0.01m Sign “+” when Octans goes up
Byte 8 Heading LSB Byte 9
0xHHHH Heading MSB
Heading 0° to 360° LSB : 0.01°
Each data is “two complemented” coded except Heading.
OCTANS User Guide
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STOLT OFFSHORE
• Standard: Output NMEA 0183 compatible with Seatex MRU system
• Data sent: Heading
Roll
Pitch
Rotation rates
• Data frame:
$PSXN, id, user, x1, x2, x3, x4, x5, x6*hh<CR><LF>
where: id is 10 when no error occurs
11 if one or more error occurs
user is 14
x1 is the pitch in radian
(Warning: Opposite sign of Octans usual convention)
x2 is the roll in radian
x3 is the heading in radian
x4 is the pitch speed in radian/second
(Warning: Opposite sign of Octans usual convention)
x5 is the roll speed in radian/second
x6 is the yaw speed in radian/second
x1, x2, x3, x4, x5, x6 are written as floats in scientific format (for example –2.5648e01)
OCTANS User Guide
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TCM 1/2
• Standard: Output (Trimble)TCM standard
• Data sent: Heading
Roll
Pitch
• Data frame:
Chhh.hPxx.xRyy.y*hh<CR><LF>
where: hhh.h is the heading in degrees
xx.x is the pitch in degrees
yy.y is the roll in degrees
hh is the checksum
OCTANS User Guide
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TMS CCV IMBAT
• Standard: Output Thomson Marconi Sonar proprietary protocol
• Data sent: Heading
Roll
Pitch
Heave
Linear accelerations
Rotation rates
Status
• Data frame:
The frame contains 24 bytes in binary format with an header and an “end of frame” fields.
Message 00 90 RRRR PPPP hhhh HHHH X1X1 X2X2 X3X3 SRSR SPSP SHSH SS 91
Byte 0 0x00 Header LSB Byte 1 0x90 Header MSB Byte 2 Roll LSB Byte 3
0xRRRR Roll MSB
Roll ± 180° LSB : 180°/215 = 0.00549° Sign “+” when port up
Byte 4 Pitch LSB Byte 5
0xPPPP Pitch MSB
Pitch ± 180° LSB : 180°/215 = 0.00549° Sign “+” when bow up Warning: Opposite sign of Octans usual convention
Byte 6 Heave LSB Byte 7
0xhhhh Heave MSB
Heave ± 327 m LSB : 327/215 = 0.00997m Sign “+” when Octans goes down Warning: Opposite sign of Octans usual convention
Byte 8 Heading LSB Byte 9
0xHHHH Heading MSB
Heading 0° to 360° LSB : 360°/216 = 0.00549°
Byte 10 X1 acceleration LSB Byte 11
0xX1X1 X1 acceleration MSB
X1 acceleration ± 0.5g LSB : 0.5/215 = 15.2 µg
Byte 12 X2 acceleration LSB Byte 13
0xX2X2 X2 acceleration MSB
X2 acceleration ± 0.5g LSB : 0.5/215 = 15.2 µg Warning: Opposite sign of Octans usual convention
Byte 14 X3 acceleration LSB Byte 15
0xX3X3 X3 acceleration MSB
X3 acceleration ± 0.5g LSB : 0.5/215 = 15.2 µg Warning: Opposite sign of Octans usual convention
Byte 16 Roll speed LSB Byte 17
0xSRSR Roll speed MSB
Roll speed ± 20°/s LSB : 20/215 = 0.00061 °/s
OCTANS User Guide
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Byte 18 Pitch speed LSB Byte 19
0xSPSP Pitch speed MSB
Pitch speed ± 20°/s LSB : 20/215 = 0.00061 °/s Warning: Opposite sign of Octans usual convention
Byte 20 Heading speed LSB Byte 21
0xSHSH Heading speed MSB
Heading speed ± 20°/s LSB : 20/215 = 0.00061 °/s Warning: Opposite sign of Octans usual convention
Byte 22 0xSS Status 0xFF ⇒ OK 0xAA ⇒ alignment 0x00 ⇒ error
Byte 23 0x91 End of frame
Each data is “two complemented” coded except Heading.
The rotation speeds represent the vessel movements without the earth rotation.
The accelerations represent the vessel accelerations without the gravity.
Warning: The sign of data corresponds to Octans system reference described in the user guide except for
pitch, acceleration X2 , acceleration X3, pitch speed and heading speed.
OCTANS User Guide
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TOKIMEC PTVF
• Standard: Output NMEA 0183 compatible, Tokimec proprietary
• Data sent: Heading
Roll
Pitch
Rotation speed
Speed of the vessel
Status
• Data frame:
$PTVF,abbbbP,accccR,ddd.dT,aee.ePR,aff.fRR,agg.gAR,ajj.jN,yyyMD,zzzzAL*hh<CR><LF>
where: abbbb is the pitch
bb(deg).bb(min)
a [-] bow up / [space] bow down
acccc is the roll in degrees
cc(deg).cc(min)
a [-] port up / [space] port down
ddd.d is the heading in degrees
aee.e is the rate of pitch in degrees/second
a [-] bow up / [space] bow down
aff.f is the rate of roll in degrees/second
a [-] port up / [space] port down
agg.g is the rate of turn in degrees/second
a [-] CCW / [space] CW
ajj.j is the vessel speed in knot
a [-] Astern / [space] Ahead
yyy Unused
zzzz status
hh is a checksum
zzzz is the hexadecimal value of the following status which is similar
to $PHINF except it only uses 4 hexadecimal numbers.
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STATUS value for TOKIMEC PTVF protocol :
Bit 0 Heading unvalid Bit 1 Roll unvalid Bit 2 Pitch unvalid Bit 3 Heave init Bit 4 Reserved Bit 5 Initialization Bit 6 Reserved Bit 7 Reserved Bit 8 FOG X1 anomaly Bit 9 FOG X2 anomaly Bit 10 FOG X3 anomaly Bit 11 FOG acq error Bit 12 Accelerometer X1 anomaly Bit 13 Accelerometer X2 anomaly Bit 14 Accelerometer X3 anomaly Bit 15 Sensor error
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TOKIMEC PTVG
• Standard: Output NMEA 0183 compatible, Tokimec proprietary
• Data sent: Heading
Roll
Pitch
• Data frame:
$PTVG,abbbbP,accccR,ddd.dT*hh<CR><LF>
where: abbbb is the pitch
bb(deg).bb(min)
a [-] bow up / [space] bow down
acccc is the roll in degrees
cc(deg).cc(min)
a [-] port up / [space] port down
ddd.d is the heading in degrees
hh is a checksum
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TSS1/DMS
• Standard: Output TSS proprietary protocol
• Data sent: Roll
Pitch
Heave
Linear accelerations
Status
• Data frame: The frame contains 27 bytes in ASCII format with an header and an “end of frame”
fields.
Message: “:XXAAAASMHHHHQMRRRRSMPPPP<CR><LF>”
Field
: Header LSB: 0x3A XX Horizontal acceleration Acc: 0 to 9.81 m.s-2
Unit: 3.83 cm.s-2
This field is hexadecimal coded AAAA Vertical acceleration Acc: ± 20.48 m.s-2
Unit: 0.0625 cm.s-2
Sign “+” when Octans goes up This field is hexadecimal coded
S Space character : 0x20 MHHHH Heave Heave: ± 99 m
Unit: 1 cm Sign “+” when Octans goes up
Q Status flag ‘h’ : Alignment mode. ‘H’ : Nominal mode.
MRRRR Roll Pitch ± 90° Unit : 0.01°
S Space character : 0x20 MPPPP Pitch Pitch ± 90°
Unit : 0.01° Sign “+” when bow up Warning: Opposite sign of Octans usual convention.
<CR><LF> End of frame : 0x0D 0x0A
Each data is ASCII format.
M = space if positive or minus if negative.
The accelerations represent the vessel accelerations without the gravity.
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TSS335B
• Standard: Output TSS proprietary protocol
• Data sent: Roll
Pitch
Heave
Linear accelerations
Status
• Data frame: The frame contains 27 bytes in ASCII format with an header and an “end of frame”
fields.
Message: “:XXAAAASMHHHHQMRRRRSMPPPP<CR><LF>”
Field
: Header LSB: 0x3A XX
Horizontal acceleration Acc: 0 to 9.81 m.s-2
Unit: 3.83 cm.s-2
This field is hexadecimal coded AAAA Vertical acceleration Acc: ± 20.48 m.s-2
Unit: 0.0625 cm.s-2
Sign “+” when Octans goes up This field is hexadecimal coded
S Space character : 0x20 MHHHH Heave Heave: ± 99 m
Unit: 1 cm Sign “+” when Octans goes up
Q Status flag ‘ ?’ : Alignment mode. Space character : Nominal mode.
MRRRR Roll Pitch ± 90° Unit : 0.01°
S Space character : 0x20 MPPPP Pitch Pitch ± 90°
Unit : 0.01° Sign “+” when bow up Warning: Opposite sign of Octans usual convention.
<CR><LF> End of frame : 0x0D 0x0A
Each data is ASCII format.
M = space if positive or minus if negative.
The accelerations represent the vessel accelerations without the gravity.
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IV.5.5.2 INPUT PROTOCOLS
• DCN Std Nav1
• DCN Std Loch
• NMEA --GGA
• NMEA –VTG
• NMEA –VHW-GLL
• NMEA --VTG—GGA
• AMS
• IG03
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DCN STANDARD NAV 1
• Standard: DCN Nav protocol 100ms network (Spec DCN n° 19187 LSM/NAV June 96)
• Data received: Log
• Data frame:
The frame contains 27 bytes in binary format with header.
It is advisable to use the Timeout to synchronize the frames.
Data Length Type Description Header 2 Binary Byte 0: 27
Byte 1: Unused Status 1 Binary Bit 7: Operational (0: Yes, 1: No) Hour 4 Binary Unused Aging 1 Binary Unused
Heading 3 Binary Unused Relative roll 3 Two complement Unused
Pitch 3 Two complement Unused Latitude 3 Two complement MSB: 90 degrees
Longitude 3 Two complement Unused North speed 2 Two complement Unused West speed 2 Two complement Unused
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DCN STD LOCH
• Standard: DCN Loch protocol (Spec DCN n° 19188 LSM/NAV March 90)
• Data received: Log
• Data frame:
The frame contains 3 bytes in binary format without header and “end of frame”
fields.
It is advisable to use the Timeout to synchronize the frames.
Byte 0 Status byte Bit 7: Operational(0:Yes, 1: No)
Bit 6: damage (0:No, 1: Yes)
Bit 5: Simulation (0:No, 1: Yes)
Bit 4: Test (0:No, 1: Yes)
Byte 1 Data MSB Bit 7: Sign(0:Positive, 1: Negative)
Bit 6: MSB = 30 knots
…….
Bit 0
Byte 2 Data LSB Bit 7: 0.234375 knots
…….
Bit 0
Warning: The Data is not two complemented; Byte 1, Bit 7 is the sign and (Byte 1, Bit 6) to (Byte 0 Bit 0) is
the absolute value of the loch.
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NMEA --GGA
• Standard: Input NMEA 0183
• Data received: Latitude
• Data frame:
$--GGA, ,llll.ll,a, , , , , , , , , , , , *hh<CR><LF>
where: llll.ll is the latitude in degrees (two first l) and in minutes (four last l)
a is ‘N’ for Northern hemisphere
a is ‘S’ for Southern hemisphere
*hh is optional
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NMEA --VTG
• Standard: Input NMEA 0183
• Data received: Log
• Data frame:
$--VTG, , , , ,x.x,N, , *hh<CR><LF>
where: x.x is the speed in knots
*hh is optional
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NMEA --VHW--GLL
• Standard: Input NMEA 0183
• Data received: Log
Latitude
• Data frame:
$--VHW, , , , ,x.x,N, , *hh<CR><LF>
where: x.x is the speed in knots
$--GLL,llll.ll,a, , , ,s*hh<CR><LF>
where: llll.ll is the latitude in degrees (two first l) and in minutes (four last l)
a is ‘N’ for Northern hemisphere
a is ‘S’ for Southern hemisphere
s is ‘A’ when latitude is valid
*hh is optional
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NMEA --VTG--GGA
• Standard: Input NMEA 0183
• Data received: Log
Latitude
• Data frame:
$--VTG, , , , ,x.x,N, , *hh<CR><LF>
where: x.x is the speed in knots
$--GGA, ,llll.ll,a, , , , , , , , , , , , *hh<CR><LF>
where: llll.ll is the latitude in degrees (two first l) and in minutes (four last l)
a is ‘N’ for Northern hemisphere
a is ‘S’ for Southern hemisphere
*hh is optional
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AMS
• Standard: AMS
• Data received: Latitude
• Data frame: ASCII format
L<CR> or l<CR>
Normal output stopped and screen cleared until latitude input
If latitude not received with 20 seconds then normal out put resumed
Latitude input format :
dd:mm:ss<sp>a<CR>
where: dd:mm:ss is the latitude in degrees, minutes and seconds
a [N] or [n] for Northern hemisphere
a [S] or [s] for Southern hemisphere
Normal output resumed
S<CR> or s<CR>
Save to PROM the configuration
N<CR> or n<CR>
Restart the system
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IG03
• Standard: Input IG03
• Data sent: Speed
Latitude
Command lines
• Data frame: ASCII format
$Sxx<CR><LF>
where: xx is the speed in knots
$Lxx<CR><LF>
where: xx is the latitude compensation in degrees
(- for Southern hemisphere)
$-ON<CR><LF>
Octans transmission in previously defined format
$N-ON<CR><LF>
N = 1 Octans starts continuous transmission in short format
N = 2 Octans starts continuous transmission in long format
N = 3 Octans transmit one sentence in short format (and stops transmission until
other command . )
N = 4 Octans transmits one sentence in long format (and stops transmission until
other command . )
$X-OFF<CR><LF>
Octans stops transmission in short and long format
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IV.6 ANALOG INTERFACES
• HEADING –180 +180
• HEADING 0 +360
• HEADING –270 +90
• HEADING –90 +270
• HEADING (+)0 +360
• ROLL
• PITCH
• COSINE (HEADING)
• SINE (HEADING)
• HEAVE
• SURGE
• SWAY
• HEAVE SPEED
• SURGE SPEED
• SWAY SPEED
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HEADING –180+180
• Standard: NA
• Definition:
Heading: 180°→270°→0°→90°→180°
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: Degree/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
HEADING 0+360
• Standard: NA
• Definition:
Heading: 0°→90°→180°→270°→360°
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: Degree/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
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HEADING -270+90
• Standard: NA
• Definition:
Heading: -270°→-180°→-90°→0°→90°
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: Degree/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
HEADING –90+270
• Standard: NA
• Definition:
Heading: -90°→0°→90°→180°→270°
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: Degree/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
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HEADING (+)0+360
• Standard: NA
• Definition:
Heading: 0°→180°→360°
Voltage: 0V→ + Vmax
• Scale factor: Degree/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
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ROLL
• Standard: NA
• Definition:
Roll: -90°→0°→90°
Polarity: + when port side up
• Scale factor: Degree/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
PITCH
• Standard: NA
• Definition:
Pitch: -90°→0°→90°
Polarity : + when bow down
• Scale factor: Degree/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
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COSINE (HEADING)
• Standard: NA
• Definition:
Cosine of the heading: -1→0→1°
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: Volts-1
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
SINE (HEADING)
• Standard: NA
• Definition:
Sine of the heading: -1→0→1°
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: Volts-1
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
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SINE (ROLL)
• Standard: NA
• Definition:
Sine of the roll: -1→0→1°
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: Volts-1
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
SINE (PITCH)
• Standard: NA
• Definition:
Sine of the pitch: -1→0→1°
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: Volts-1
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
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HEAVE
• Standard: NA
• Definition:
heave: -1→0→1 m
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: m/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
SURGE
• Standard: NA
• Definition:
surge: -1→0→1m
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: m/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
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SWAY
• Standard: NA
• Definition:
sway: -1→0→1m
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: m/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
HEAVE SPEED
• Standard: NA
• Definition:
heave: -1→0→1m.s-1
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: m.s-1/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
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SURGE SPEED
• Standard: NA
• Definition:
surge: -1→0→1m.s-1
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: m.s-1/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
SWAY SPEED
• Standard: NA
• Definition:
sway: -1→0→1 m.s-1
Voltage: - Vmax → 0V→ + Vmax
• Scale factor: m.s-1/Volts
• Remark: the full scale range is ± 10 V for a resolution of 14 bits
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IV.7 PULSE INTERFACES
• LOG
• SEROUT X (X = A, B or C)
• SEROUT X RTC (X = A, B or C)
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LOG
• Standard: any log
• Definition:
X pulses per nautical miles
• Scale factor: pulses per nautical miles
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SEROUT X SYNCHRO
Description of protocol is similar for X = A, B or C depending on the serial port considered.
• Standard: none
• Definition: On pulse input rising edge, serial output X samples data corresponding to its
configuration .
• Scale factor: No effect
T2
Serial output
Digital input
T1
T1 > 10 ms
T2 < 10 ms
Remark: If the serial output sampling clock is not set to 0 in the configuration of serial port X, data
will be sent according to the sampling clock and the pulse rising edge.
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SEROUT X RTC
• Standard: none
• Definition: The digital output is used as RTC signal of the serial A output
• Scale factor: No effect
T1 T2
Serial output
Digital output
0ms < T1 < 10 ms
0ms < T2 < 20 ms
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