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Concept Systems Interface Manual

This document serves as a reference for the interfaces available for Concept Systems' SPECTRA and GATOR integrated navigation systems, detailing various modular nodes and their functionalities. It includes an introduction to the interfaces, a revision history, and chapters dedicated to specific interface groups such as acoustics, DGPS, and general interfaces. The document is intended for internal use and customers, with strict copyright restrictions on reproduction and distribution.

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0% found this document useful (0 votes)

45 views355 pages

Concept Systems Interface Manual

Uploaded by

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We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

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RTNU/RTNµ/PowerRTNU

Interface Reference

Reference: SHARED/interfaces_12
Issue Date: 26/07/2004
Author: Spectra/Gator Support

Approved by:
Mark McConachie
Project Manager:

Distribution:
Internal
Prospects
Customers

This document is the property of Concept Systems Limited. It must not be copied, in whole or in part, or
otherwise disclosed, without prior written consent. Any copies of this document, or part thereof, must also
include a copy of this legend. This document is supplied without liability for errors or omissions.
© Copyright Concept Systems Limited 2004
1 Logie Mill, Beaverbank Business Park, Logie Green Road, Edinburgh EH7 4HG, Scotland
Tel: (+44)131 557 5595 Fax: (+44)131 557 2367 Telex: 727673 CONCEP G
Interfaces Manual About this document

About this document

This document gives information on the interfaces available for the following Concept systems:
• SPECTRA - integrated navigation system designed for marine geophysical survey usage .
• GATOR - integrated navigation system designed for ocean bottom cable survey usage.

Both are modular, comprising various Nodes.

The Introduction presents an overview of the different interfaces. Then follows a separate
chapter devoted to each interface group.
See other manuals in the SPECTRA suite for:
• an overview of how Spectra works - Spectra Beginner’s Guide
• a glossary of terms - Spectra Glossary
• descriptions of Nodes and command lines and installation and set up instructions -
Spectra Software Installation and Set Up
• detailed descriptions of other Nodes - User manuals or online help for each node.
See other manuals in the GATOR suite for:
• a summary of how to use Gator - Gator User Manual - Getting Started
• more on using GATOR - Gator User Manual - Using the System

Revision history
Document Reference Date Notes
SPCTRA/RTNU_IF/1 Nov 1996 First issue
SPCTRA/RTNU_IF/2 June 1997 Some .int file names and code names corrected.
MULTI_BIRDS and MULTI_ACOUSTICS superseded
by MULTI_AC_ID. WEST_PVANE_TENSION
superseded by WEST_TENSION. DIGI_PGSB
channels corrected. New interfaces added.
SHARED/USER/INT_1 July 1998 Updated to cover use by SPECTRA and GATOR.
Virtual Interfaces all moved to form chap 21.
SHARED/USER/INT_2 January 1999 New interfaces added, old ones removed.
SHARED/interfaces_3 October 1999 New chapters: Tension, Timing, PRH and Test.
SHARED/interfaces_4 Dec1999 VID command line changes. Other corrections.
SHARED/interfaces_5 August 2000 RTCM QC group added for SPN/SPCN.
Bigshot, Macha and Omega added to GUN.
External shooting mode, NR101 and Racal UKOOA
sentence added to DGPS.
Standardised RGPS channel allocation added.
RTVEV interface added to RGPS.
RDIADCP Interface added to GENERAL.
Yacht YL300 Speed Log added to SPEED.
SHARED/interfaces_6 Nov 2000 Fugro MRDGPS QC Output and Terramatics Inertial
Navigation System added to DGPS group.
Fugro RGPS Tailbuoy Tracking added to RGPS.
GUNDA added to GUN.
Updates to Valeport Speed Serial Output String and
Virtual Interface Triggers.
i
About this document Interfaces Manual

SHARED/interfaces_7 March 2001 Trimble 4000 DGPS AUXCOM3 now handles QPS
date format. Racal UKOOA DGPS now handles
Multifix QC format. Number of standard channels for
satellite IDs increased to 6 in RGPS group. Krupp
Atlas Elektronik Hysrosweep added to ECHO.
Updates to Merv(GUN), NMGGA(DGPS) &
RTCM104. New Chapter (CURRENT PROFILER)
added.
SHARED/interfaces_8 August 2001 Updated and converted to FrameMaker.
SHARED/interfaces_9 February 2002 Updates and corrections.
SHARED/interfaces_10 June 2002 New interfaces added. PRH Standard Channel
Allocation added. Custom quality channel introduced
for selected DGPS and PRH interfaces.
SHARED/interfaces_11 Sept 2002 New interfaces added. Updates.
Nov 2002 Corrections.
May 2003 New interfaces added. Updates and corrections.
Dec 2003 New interfaces added. Updates and corrections.
SHARED/interfaces_12 July 2004 New interfaces added. Updates and corrections.

Document cross-reference
Document Reference Title
SHARED/USER/RTNU_4 RTNU & Closure Unit - Hardware Installation and Operation
SHARED/USER/MICRO_5 RTNµ - Hardware Installation and Operation
SPECTRA-Digicon Interfacing Requirements
Digicourse ECHO Output Format Specification
Digicourse document 1000-133, Rev.A
Digicourse document 1000-361, Rev.A

Conventions used in this document

_ (underscore) represents the ASCII space character
<cr> or <CR> represents carriage return
<lf> or <LF> represents line feed
Other conventions used in this, and other SPECTRA or GATOR user manuals, are defined in:
Spectra Beginner’s Guide and Gator User Manual.

ii
Interfaces Manual Contents

Contents
About this document ................................................................................. i
Revision history ...................................................................................................... i
Document cross-reference .................................................................................... ii
Conventions used in this document....................................................................... ii
Introduction ..............................................................................................ix
RTNU and RTNµ ICC interfaces .......................................................................... ix
Virtual interfaces ................................................................................................... ix

Chapter 1 ACOUSTICS ..........................................................................1-1

Standardised Acoustic Channel Allocation ............................................................ 1
Digicourse Acoustics - ECHO Extended Host ....................................................2-1
Digicourse Acoustics - Extended Acoustic Protocol ........................................3-1
Sonardyne SIPS Acoustics ..............................................................................5-1
Sonardyne SIPS Acoustics - PGS Format .........................................................7-1
Sonardyne SIPS Acoustics Western SIPS Binary Data Format .....................9-1
Sonardyne SIPS 1 Sound Velocity Output ....................................................11-1
Sonardyne SIPS 2 Binary Acoustic String ........................................................12-1
Syntron MultiTRAK Acoustics ........................................................................13-1

Chapter 2 COMPASS .............................................................................1-2

Digicourse Bird Data, Extended Binary Format ..............................................1-2
Digicourse Bird Depth / Angle Interface ...........................................................5-2
Digicourse Compass ASCII Format ..................................................................6-2
Digicourse 293 Streamer Depth / Compass Interface ........................................8-2
Syntron MultiTRAK Bird Data Including Wing Angle ......................................11-2
Syntron - Syntrak CUS Compasses ...............................................................13-2

Chapter 3 CURRENT PROFILER...........................................................1-3

Standardised Current Profiler Channel Allocation .............................................1-3
FUGRO SEIS ADCP string .............................................................................3-3
Nortek ADP Extended ASCII (with STX/ETX) .................................................4-3
RDI ADCP Ensemble – Broad/Narrow band (with STX/ETX) ..........................6-3

Chapter 4 DGPS .....................................................................................1-4

Standardised DGPS Channel Allocation ............................................................1-4
DGPS MICROFIX ..............................................................................................5-4
FUGRO MRDGPS QC Output ......................................................................6-4
FUGRO XP Expanded and Concise Format ....................................................10-4
Kongsberg Diffstar Output ..............................................................................14-4
Magnavox PMVXG Output String ...................................................................16-4
Marconi Smart Antenna Positional Interface ....................................................18-4
NMEA GPGGA Output String .........................................................................20-4
NMEA GGK .....................................................................................................24-4
NMEA NR203 Multi string.................................................................................25-4
NR101 DGPS Interface ..................................................................................27-4
Racal UKOOA Sentence ................................................................................28-4
Sargas GPS Interface .....................................................................................31-4
Seadiff DGPS - Trimble 4000 Position Format ...............................................32-4
Seadiff GECO .................................................................................................33-4
SeaPro DGPS ..................................................................................................34-4
SOJ Format ....................................................................................................36-4
Spectra External Shooting Mode Interface .....................................................39-4
Syntron BATES ..............................................................................................40-4
Terramatics Inertial Navigation System (INS) ..............................................41-4
Trimble 4000 Binary Position ..........................................................................43-4
Trimble 4000 DGPS DNAV AUXCOM3 .....................................................44-4
iii
Contents Interfaces Manual

Trimble 4000 GPS Position & Calculation ...................................................46-4

Western POSNET .........................................................................................48-4

Chapter 5 ECHO .....................................................................................1-5

Standardised Echo-sounder Channel Allocation ................................................1-5
ATLAS DESO 25 Echosounder .......................................................................2-5
ATLAS DESO 15 Echosounder ........................................................................3-5
Black Box Depth Repeater ...............................................................................4-5
DFS6000 Echo Sounder ...................................................................................5-5
ELAC LAZ 4700 Echosounder Output ..............................................................6-5
FURUNO Echosounder ...................................................................................7-5
Innerspace 449 Fathometer Output String ......................................................8-5
Innerspace Technology Echosounder ..............................................................9-5
Innerspace Technology Thermal Depth Sounder Recorder Model 449 ........10-5
KAIJO ECHOSOUNDER string ........................................................................11-5
Krupp Atlas Elektronik Hydrosweep ...............................................................12-5
Marimatech 103 Deso 25 output string ..........................................................13-5
NMEA SDDBT String ......................................................................................14-5
ODOM Hydrographic DF3200 Echosounder ..................................................15-5
SIMRAD EA200 Echosounder & 6 byte format (..B6) ...............................17-5
SIMRAD EA200 PIU Echosounder ................................................................18-5
SIMRAD EA300P Echosounder ....................................................................19-5
SIMRAD EA500 Echosounder ......................................................................20-5

Chapter 6 GENERAL..............................................................................1-6
Air Pressure Sensor Interface ............................................................................1-6
Bell Aerospace Gravity Meter BGM3 Format ..................................................2-6
Digicon - Multi Vessel Block Interface .............................................................3-6
Digicon NIC Output ..........................................................................................6-6
Digiquartz Pressure / Depth Interface .............................................................7-6
Fugro Gravity......................................................................................................8-6
Fugro Magnet ..................................................................................................10-6
Geometrics G801 Magnetometer .....................................................................11-6
Horizon Shot Header ......................................................................................12-6
HYDRONAV Navigation Header Processing Interface ...................................14-6
Input/Output Image System - Shot Message String .................................15-6
KSS31 ..............................................................................................................16-6
NMEA_ANY ......................................................................................................19-6
RDI ADCP Interface .......................................................................................21-6
SeaKing Bathymetric System: Winson Processed Data String ........................23-6
SeaSPY data format ........................................................................................25-6
STRATAVIEW SEISMIC SYSTEM FFID..........................................................27-6
Syntron SPS Relational record ......................................................................28-6
TIDE Depth Gauge .........................................................................................30-6
TOPSIDE ROV Altimeter ..................................................................................31-6
Windvane Wind heading/speed .....................................................................34-6

Chapter 7 GUN .......................................................................................1-7

Standardised Gun Channel Allocation ...............................................................1-7
4C Gun Depth/Pressure Unit Interface ...............................................................3-7
Aircon Gun Controller ......................................................................................4-7
Aircon Gun Controller - GDS ...........................................................................6-7
BIGSHOT .........................................................................................................7-7
Gun External Header Manifold Pressure Interface ...........................................12-7
GMU ...............................................................................................................13-7
GUNDA Gun Controller ..................................................................................14-7
Horizon RTNU Gun Controller Header ...........................................................17-7
Hydra Pulse ....................................................................................................19-7
Hydropulse .....................................................................................................20-7
LRS100 Gun Controller .................................................................................21-7

iv
Interfaces Manual Contents

LRS100 Gun Controller (32 Gun) - PGS Version ...........................................23-7

Macha ............................................................................................................24-7
Merv ................................................................................................................26-7
Newport P6000 Gun Manifold Pressure Interface ............................................27-7
Omega ...........................................................................................................29-7
Reftek Gun Controller ....................................................................................30-7
Reftek Gun Depths Interface ............................................................................32-7
Sureshot ........................................................................................................34-7
Syntron Gun CGG FORMAT ............................................................................36-7
Syntron Gun Controller ..................................................................................38-7
Syntron Gun Controller - V2 ...........................................................................40-7
TopShooter Gun Interface ...........................................................................44-7
Trigun Gun Interface.........................................................................................46-7

Chapter 8 GYRO.....................................................................................1-8
4C Gyro Interface ...........................................................................................1-8
Anschutz Standard 20 Gyro Compass ............................................................2-8
Black Box Gyro ................................................................................................3-8
Horizon Gyro ....................................................................................................4-8
Lehmkuhl LR22 ...............................................................................................6-8
Lehmkuhl LR40/60 & Robertson ................................................................7-8
NMEA Gyro ......................................................................................................8-8
RGC11S Gyro ....................................................................................................9-8
S.G. Brown, SGB 1000S ................................................................................10-8
Western Pitch, Roll & Gyro ..............................................................................11-8

Chapter 9 LASER ...................................................................................1-9

MARS (Marine Angle Ranging System) ...........................................................1-9
MARS2 (Marine Angle Ranging System) ...........................................................3-9
MDL Fanbeam Single Target .............................................................................5-9
MDL Lasertrack Fanbeam ................................................................................6-9
MDL MARS .......................................................................................................8-9
MDL MARSF ..................................................................................................10-9

Chapter 10 OBC ACOUSTICS .............................................................1-10

BATES OBC Serial Interface ..........................................................................1-10
Sonardyne OBC Acoustic System ..................................................................2-10
Sonardyne RFID Tagging System ..................................................................3-10

Chapter 11 PITCH, ROLL, AND HEAVE..............................................1-11

Standardised PRH Channel Allocation .............................................................1-11
ATLAS DESO 20 via TSS 320B Heave Compensator ...................................3-11
Dynamic Motion Sensor string - TSS format - Pitch, Roll and Heading .........4-11
HPR309 ............................................................................................................6-11
MDL Trim Cube Inclinometer ..........................................................................8-11
NMEA GPPAT/PASHR Output String ............................................................9-11
NMEA PRH Interface......................................................................................11-11
Novatel Beeline ............................................................................................14-11
Seapath 400 Pitch & Roll Binary Format ..................................................16-11
Seapath 200 Binary Pitch Roll Heave Heading output .............................18-11
TSM 5265 – Tate Bryant format ....................................................................19-11
Trimble Azimuth Determining Machine ..........................................................21-11
Trimble TANS VECTOR - Attitude Solution Packet ......................................22-11

Chapter 12 RADIONAV ........................................................................1-12

Argo Standard, Option 'A' & ONI ....................................................................1-12
Hyperfix ..........................................................................................................2-12
Racal Microfix ..................................................................................................4-12
Racal Pulse 8 Mk 7 .........................................................................................5-12
SB5 Serial Interface ..................................................................................7-12
v
Contents Interfaces Manual

Chapter 13 RAW GPS ..........................................................................1-13

CNAV Binary RAWGPS ...................................................................................1-13
Marconi Smart Antenna Raw GPS Interface ..................................................2-13
Seadiff Raw GPS Interface .............................................................................4-13
Sercel Aquarius ................................................................................................5-13
Sercel NR103 Raw GPS Interface .................................................................6-13
Trimble MS Series Raw GPS Interface ..........................................................7-13
Trimble TSIP 6EW Raw GPS .........................................................................8-13

Chapter 14 RGPS .................................................................................1-14

Standardised RGPS Channel Allocation ..........................................................1-14
Fugro RGPS Tailbuoy Tracking – Fugro Geotem AS .....................................3-14
John Chance Buoytrak III - Digicon Format and NCS SVS5000 Tailbuoy Tracking Sys-
tem - Digicon/Spectra Format...........................................................................4-14
John Chance Buoytrak III - Original System ...................................................6-14
PGS John E. Chance III Format .....................................................................7-14
RTVEC ...........................................................................................................8-14
Seatrack Tailbuoy Tracking System - Seatex AS .........................................10-14
SeaPro RGPS ................................................................................................12-14
SkyTrac II GPS Remote Tailbuoy Tracking System: Trimble Tailbuoy Output Format
14-14
Topkart Tailbuoy ...........................................................................................15-14
Western Darts Tailbuoy Interface .................................................................16-14
Western Geco RGPS Interface ....................................................................17-14
Western Tailbuoy (NCS SVS-5000 rGPS) ...................................................19-14

Chapter 15 RTCM .................................................................................1-15

Seadiff RTCM Interface ..................................................................................1-15
Sercel Aquarius RTCM Interface ......................................................................2-15
Sercel NR103 RTCM Interface .......................................................................3-15
RTCM 104 ......................................................................................................4-15

Chapter 16 RTCM QC...........................................................................1-16

RTCM QC Interface ........................................................................................1-16

Chapter 17 SPEED ...............................................................................1-17

Standardised Speed Channel Allocation ..........................................................1-17
Applied Microsystems SVP-16 Sound Velocity Profiler ..................................2-17
Doppler Finder (Colour) JLN-615 Speed Log .................................................3-17
Galatee Mk3 Speed Log - NMEA Sentence ...................................................4-17
NMEA Speed Log ...........................................................................................5-17
Odom WG-1100A Velocimeter .......................................................................7-17
Valeport Speed Serial Output String ..............................................................8-17
Yacht YL300 Speed Log ...............................................................................10-17

Chapter 18 TENSION ...........................................................................1-18

Hystad Electronik Shock Absorber System ....................................................1-18
Load Cell - PGS Interface ...............................................................................3-18
SYNTRON Streamer Tension Unit ..................................................................4-18
Western Paravane Tension ............................................................................5-18
Western WG24 Cable Tension Interface ........................................................6-18

Chapter 19 TEST ..................................................................................1-19

SERIAL Debug Interface ................................................................................1-19
SLUG Interface ...............................................................................................2-19
Spectra Simulator (General) ...........................................................................3-19

Chapter 20 TIMING...............................................................................1-20
DMS SYNTRAK 480 log header for QC .........................................................1-20
vi
Interfaces Manual Contents

NMEA ZDA Interface ........................................................................................2-20

NR203M Trigger Timestamping Interface ........................................................3-20
TrueTime Event Timing Interface ...................................................................4-20
TrueTime Nav String Interface ..................................................................6-20
TTU (Trigger Timing Unit) Timing Interface ....................................................7-20

Chapter 21 VIRTUAL INTERFACES....................................................1-21

Cable Depths From Western MSC1 and MSC2 Units ....................................1-21
CRS Virtual Gun Interface ..............................................................................2-21
Digicourse TZ OBC Virtual Interface ................................................................3-21
Gun & Pinger Depths From Western SSS Unit ..............................................4-21
HIPAP USBL Virtual Interface ........................................................................5-21
Horizon Gun Data Socket Interface ................................................................9-21
Sonardyne RFID Tag reader Virtual Interface ................................................10-21
Sonardyne TZ OBC Virtual Interface ............................................................12-21
SPCN DGPS Virtual Interface ......................................................................13-21
VIPSER Node ...............................................................................................14-21
Virtual Interface Digicourse ..........................................................................17-21
Virtual Interface for RADAR............................................................................21-21
Virtual Interface for Seaprobin ........................................................................23-21
Virtual Interface GGA .....................................................................................24-21
Virtual Interface Posnet ................................................................................26-21
Virtual Interface SIPS .....................................................................................30-21
Virtual Interface to the MRDGPS....................................................................32-21
Virtual Interface Triggers ..............................................................................35-21
Index............................................................................................................i

vii
Interfaces Manual Introduction

Introduction
This document details the interfaces available for the SPECTRA and GATOR systems. It equips
you to configure them in the field, and also to perform limited diagnostics should you encounter
problems. It covers both RTNU and RTNµ ICC interfaces, and interfaces designed to take raw
data from other sources – “virtual” interfaces covered in Chapter 21.
Not every system to which the RTNU or RTNµ can interface is included in this manual. Omitted
are those having a restricted user base, and subject to frequent specification changes (some-
times on a job-by-job basis). For this last category, up-to-date interface information is supplied at
the time of installation.
The interfaces detailed are correct at the time of writing, but are all very much dependent on the
manufacturers and users of the systems in question, and may therefore change at any time.

RTNU and RTNµ ICC interfaces

Currently available RTNU and RTNµ serial interfaces are listed alphabetically under their group
heading.

Virtual interfaces
Virtual Interfaces allow the user to configure the system to acquire raw data messages from
sources other than via the serial ports of the RTNU or RTNµ (the normal route). They do not have
any abs code modules stored in the SPECTRA or GATOR abs directory, nor do they use RTNU
ICC cards.
Examples of virtual interfaces are:
• Data received via Ethernet socket connections.
• Data received via Token Ring networks.
They are listed, in Chapter 21.

ix
Interfaces Manual ACOUSTICS

Chapter 1 - ACOUSTICS
This chapter contains details of RTNU and RTNµ serial interfaces for acoustics. For details of
virtual interfaces, please refer to Chapter 21 - ’VIRTUAL INTERFACES’.

Some interfaces may return additional blocks of data

The VID returns the following extra channels for each range.
11 Time A-B Range time
12 P1 A-B Path 1 data
13 P1 Time A-B Path 1 time
14 P2 A-B Path 2 data
15 P2 Time A-B Path 2 time

The Sonardyne SIPS 1 Sound Velocity Output returns the following for each velocimeter.
9 Sound Velocity
10 Conversion factor
11 Conductivity
12 Temperature
13 Depth
14 Pressure

1-1
ACOUSTICS Interfaces Manual

Digicourse Acoustics - ECHO Extended Host

Code Name digac
INT FIle AC_DIGAC
Group ACOUSTICS

Data Type Binary

The standard acoustic range message is output on either the COM2 or COM3 port (configuration
option) of the Digiscan unit. It will be triggered to initiate data transfer by sending a single trigger
character (‘d’, ‘h’ etc).
This interface decodes Digicourse Acoustics Type 0 message, as defined in Digicourse
document 1000133, Rev.A.

Expected input
Frame Structure:

SYN SYN ......... SFD Length Type PSN .....DATA ..... FCS FCS

SYN Sync char 0x96

SFD Start frame delimiter
Length Number of bytes in Data field
Type Packet type
PSN Packet Sequence Number (n of M)
Data Data field
FCS Frame Check sequence (ISO Checksum)
Length Data field length can be up to 4090 bytes, and there can be up to 255 acoustic
ranges.
Type Indicates if the received packet is CONTROL or DATA.
PSN Used to identify the order of a segment in a multi-segment data packet.
Data Field The data field contains the acoustic information. Several types of acoustic
messages are defined (see section 4 of the "Digicourse ECHO Output Format
spec" for details).
Frame Check FCS consists of a 16-bit checksum algorithm (see appendix A of the
"Digicourse ECHO Output Format spec").

WARNING: The start SYN chars are optional (up to 4).

Allocated Channel Numbers

Channel Description Notes
1-8 As per “Standardised Acoustic Channel Allocation” on page 1-1.
9-n Acoustic ranges Configured at RTCN.
User configures which ranges are returned
in each channel slot by specifying the unit Tx
and Rx ID's. Ranges are returned in
milliseconds.

2-1
Interfaces Manual ACOUSTICS

Digicourse Acoustics - Extended Acoustic Protocol

Code Name digaxd
INT File AC_DIGAX
Group ACOUSTICS

The Digicourse System 3 - Extended Acoustic Protocol (Binary) [Message Type 7]” - as defined in
Digicourse document 1000-361 Rev.A - is output to the CSL Nav system via serial Port when
triggered. It will be triggered to initiate data transfer by sending a single trigger character (‘d’, ‘h’,
etc.) or by external closure if the Digicourse system is fitted with an optional closure card.

Expected Input
Byte Description
Optional Preamble
- SYNC [0x96] Up to 4 Sync Chars
Protocol Header
1 Start Frame [0x7E] SFD Char
2 MSB length of Data Field (12 Bits) [0-4090]
3 LSB Length (Bits 7-4) [0-15]
Packet Type (Bits 3-0)
0 = Data, 1 = Control,
2-15 = Reserved
4 Packet Sequence Numbers
Bits 7-4 : Total Segments [0-15]
Bits 3-0 : Current Segment [0-15]
Begin Data Field
5 Acoustic Data Message Type 7 for
Extended Acoustic Protocol
6-N Acoustic Data [19 Bytes/Range]
End Data Field
N+1 Frame Check Sequence - MSB
ISO Checksum Byte 1
N+2 Frame Check Sequence - LSB
End Packet

WARNING: The start SYN chars are optional (up to 4).

Ranges are flagged valid if either of the following conditions are met:
• Data Quality Code is 0 (good range).
• Data Quality Code is 1 (unqualified), and Data Status Code indicates one-way range

3-1
ACOUSTICS Interfaces Manual

Allocated Channel Numbers

Channel Description Notes
1-8 As per “Standardised Acoustic Channel Allocation” on page 1-1
9-n Acoustic ranges Configured at RTCN.
User configures which ranges are returned in each
channel slot by specifying the unit Tx and Rx ID's.
Ranges are returned in milliseconds.

4-1
Interfaces Manual ACOUSTICS

Sonardyne SIPS Acoustics

Code Name sipsb
INT File AC_SIPS_BINARY
Group ACOUSTICS

SIPS Binary Logged Data Format

The record consists of a header block and a measurement block. The header block contains the
length of record, number of ranges and the timestamp of the log. The most significant byte is
always sent first.
Header Block:

1. Byte 1..2 Length of record

2. Byte 3..4 Number of Ranges Logged
3. Byte 5..12 Timestamp of Log

Measurement Block:

4. Byte 13..15 Source ID

5. Byte 16..18 Destination ID
6. Byte 19..22 Range in IEEE-754 32 bit format
7. Byte 23,24 Time of Range relative to timestamp in 100ths Sec.
8. Byte 25.. Repeat Measurement Block for all ranges.
9. 2 Bytes 16 bit XOR Checksum of all data in the record.

Format of TimeStamp:

Byte 1 0 Byte 5,6 Year (4 digits)

Byte 2 Hour 0-23 Byte 7 Month 1-12
Byte 3 Min 0-59 Byte 8 Day 1-31
Byte 4 Sec 0-59

Range Identities:
The Range identities for source and destination are 4 character ASCII names compressed into 3
Bytes. This is done by accepting characters in the range 20H to 5FH and subtracting 20H. The
resulting 6 bit characters are then compressed into 3 bytes.
Example:
If bytes 'SSS' = 921DA5

3 Bytes [9] [2] [1] [D] [A] [5]

4 Chars [100100] [100001] [110110] [100101]

[ 2 4 ] [ 2 1 ] [ 3 6 ] [ 2 5 ]

Add 20H [ 44H ] [ 41H ] [ 56H ] [ 45H ]

To ASCII [D] [A] [V] [E]

5-1
ACOUSTICS Interfaces Manual

The Ranges can be in 4 forms:

Form e.g. Colour on SIPS Display
Good Range 345.67 (Green) - on SIPS Display
Flagged Range -345.67 Yellow
No Range Received 0.00 Cyan
Comms Failure -1.0 Red

• Good Ranges are ranges that have passed the transceiver 'quality' check.
• Flagged ranges may be valid but did NOT pass the 'quality' check.
• CSL Nav system ICC tags Good Ranges & Flagged Ranges: Valid
• All other range forms are tagged: Invalid
SIPS Acoustics Notes & Example

For the above example, the ranges would be entered in the RTCN Interface Editor as:

Name TxID RxID

V1T1- G1T1 V1T1 G1T1
V1T1-G2T1 V1T1 G2T1
G1T1-S1T1 G1T1 S1T1
etc .

Allocated Channel Numbers

6-1
Interfaces Manual ACOUSTICS

Sonardyne SIPS Acoustics - PGS Format

Code Name pgsips
INT File AC_PGS_SIPS
Group ACOUSTICS

The record consists of a header block and a measurement block. The header block contains the
length of record and number of ranges. The most significant byte is always sent first.
Header Block:

1. Byte 1..2 Length of record

2. Byte 3..4 Number of Ranges Logged

Measurement Block:

3. Byte 5..6 Source ID

4. Byte 7..8 Destination ID
5. Byte 9..12 Range (Real)
6. Byte 25.. Repeat Measurement Block for all ranges.
7. 2 Bytes 16 bit XOR Checksum of all data in the record.

Range Identities:
The ranges can be in 4 forms:
Form e.g. Colour on SIPS Display
Good Range 345.67 Green
Flagged Range -345.67 Yellow
No Range Received 0.00 Cyan
Comms Failure -1.0 Red

Good ranges are ranges that have passed the transceiver “quality” check. Flagged ranges may
be valid, but did not pass the “quality” check.

Allocated Channel Numbers

Channel Description Notes
1-8 As per “Standardised Acoustic Channel Allocation” on page 1-1.
9-n Acoustic ranges Configured at RTCN.
User configures which ranges are returned in each
channel slot by specifying the unit Tx and Rx ID's.
Ranges are returned in milliseconds.

The Tx and Rx IDs to be entered in the range channels are in the following format:
<acoustic node body><body no.><transceiver type><transceiver no.>
where:

Acoustic Node Bodies B = Buoy

G = Gun
S = Streamer
V = Vessel
Body Number Range 01 - 31
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ACOUSTICS Interfaces Manual

Transceiver Type Always T

Transceiver Number Range 01 - 31.

For example, the full Tx (Rx) ID for the acoustic nodes Streamer 1 / Transmitter 1, and Vessel 1 /
Transmitter 2, are:
• S01T01
• V01T02

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Interfaces Manual ACOUSTICS

Sonardyne SIPS Acoustics Western SIPS Binary Data

Format
Code Name wesips
INT File AC_WESIPS
Group ACOUSTICS

1. Byte 1..2 (0xfa) x 2

2. Byte 3..4 Record Length
3. Byte 5..6 Number of Ranges
4. Byte 7..10 Timestamp in Julian seconds from 00:00:00 1/1/70

Measurement Block:

5. Byte 11..13 Source ID

6. Byte 14..16 Destination ID
7. Byte 17..20 Range in IEEE-754 32 bit format
8. Byte 21..22 Time of Range relative to timestamp in 100ths Sec.
9. Byte 23.. Repeat Measurement Block for all ranges.
10. 2 Bytes 16 bit XOR Checksum of all data in the record.

Range Identities
The Range identities for source and destination are 4 character ASCII names compressed into 3
Bytes. This is done by accepting characters in the range 20H to 5FH and subtracting 20H. The
resulting 6 bit char-acters are then compressed into 3 bytes.
Example:
If bytes 'SSS' = 921DA5

3 Bytes [9] [2] [1] [D] [A] [5]

4 Chars [100100] [100001] [110110] [100101]

[ 2 4 ] [ 2 1 ] [ 3 6 ] [ 2 5 ]

Add 20H [ 44H ] [ 41H ] [ 56H ] [ 45H ]

To ASCII [D] [A] [V] [E]

Western always use 4 number IDs, i.e. 0001, 0002, etc.

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ACOUSTICS Interfaces Manual

The Ranges can be in 4 forms

Form e.g. Colour
Good Range 345.67 (Green) - on SIPS Display
Flagged Range -345.67 Yellow
No Range Received 0.00 Cyan
Comms Failure -1.0 Red

Allocated Channel Numbers

Channel Description Notes
1-8 As per “Standardised Acoustic Channel Allocation” on page 1-1.
9-n Acoustic ranges Configured at RTCN.
User configures which ranges are returned in each
channel slot by specifying the unit Tx and Rx ID's.
Ranges are returned in milliseconds.

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Interfaces Manual ACOUSTICS

Sonardyne SIPS 1 Sound Velocity Output

Code Name sipsv
INT File AC_SIPSSVC
Group ACOUSTICS

Telegram Format
$PSSVP,S,[Link],C,[Link],T,[Link],D,[Link],A,[Link],N,xxxx,R,hh:mm:ss dd mmm
yyyy<CR<LF>
where:
$PSSVP Telegram header
,S,[Link] Sound velocity in m/s calculated using Chen Millero 1977
,C,[Link] Conductivity in mmho/cm
,T,[Link] Temperature in degrees C
,D,[Link] Depth in metres
,A,[Link] Atmospheric pressure in mbars
,N,xxxx Node name, where sound velocity measured
,R,hh:mm:ss dd mmm yyyy Hours Mins Secs Day Month Year when measurement taken.
Notes:
1. In SIPS, the depth is the depth entered in the software and not the depth of the transceiver.
2. Terminated by <CR> (ASCII Char 13) <LF> (ASCII Char 10)
3. A parameter does not have to follow the letter (and comma) before it. It can be omitted if, for
example, the temperature reading was missing it would be ,T,,D,. The commas must be there
to act as field delimeters.
4. A telegram is output for each sound velocity transceiver. There is no limit to this number and
the telegram is output only when new data is available (every n gun shot closures). Note if
more than 1 transceiver has been defined in the SIPS system, they can have different update
rates, and hence different output intervals.
5. If output on the same serial channel as the range data it is sent after the range data block.

Allocated Channel Numbers

Channel Description Notes
1-8 As per “Standardised Acoustic Channel Allocation” on page 1-1.
The following block is repeated for n velocity profiles
9 Sound velocity
10 Conversion factor
11 Conductivity
12 Temperature
13 Depth
14 Pressure

Each Node Data Set is slotted into 5 channels, as above. The Node ID is matched with the ID
found in the Sound/Velocity Channel Tx ID of the RTCN configuration window. The Rx ID of the
Sound/Velocity Channel should be left as ‘None’. The remaining 4 parameters for this Node are
slotted into the next four channels, Tx IDs and Rx IDs for those channels should be left as ‘None’.

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ACOUSTICS Interfaces Manual

Sonardyne SIPS 2 Binary Acoustic String

Code Name sipsb2
INT File AC_SIPSB2
Group ACOUSTICS

Binary string containing a header block and a measurement block. The measurement block
contains multiple acoustic ranges.

Communication Parameters
Baud 9600
Parity None
Data Bits 8
Stop Bits 1

Format Description
Header Block
Byte Size Description
1..2 2 Byte Count - Length of entire message (inc byte count)
3..4 2 Number of Ranges
5..15 10 Measurement Block 1
xx..yy 10 Measurement Block ‘n’
2 16 BIT XOR Checksum of all data in the message.

Measurement Block
Byte Size Description
1..3 3 Source ID
4..6 3 Destination ID
7..10 4 Range in millisecs

When specifying Transmitter and Receiver Ids, two characters must be used for the transponder
number i.e. S12T10, V01T02 etc.

Allocated Channel Numbers

As per “Standardised Acoustic Channel Allocation” on page 1-1.

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Interfaces Manual ACOUSTICS

Syntron MultiTRAK Acoustics

Code Name smacid
smaco
INT File AC_SYNTRON_MULTITRAK
AC_SYNTRON_MULTITRAK_O
Group ACOUSTICS

Expected input
Frame structure:
| SYN | SYN | SOB | Length | Type | Header | DATA | XOR | Sum |
where:
SYN Sync char 0xAA
SOB Start of Block character 0x55
Length Number of bytes from block type to checksums
Type Block type
Header Header data: velocity of sound, scan times, etc.
DATA Data field
XOR XOR checksum
Sum Sum checksum

Length:
Data length is variable, depending on the number of acoustic ranges and the number of scans
(e.g. with 255 ranges and 3 scans the data will be 3860 bytes in total).
Type:
This identfies the type of data to follow:
6 Acoustic data without timestamp.
7 Heading data.
8 Depth data.
9 Wing angle.
10 Reserved.
11 Compass serial numbers.
12 Battery pack serial numbers.
13 Temperature.
14 Acoustic data with timestamp.

Header:
The header contains sound velocity, salinity, status and time of scans.
Data Field:
The data field contains the object type, transmitter ID, depth and temperature, the receiver ID,
depth and temperature, range in milliseconds, and time-stamp if the data type ID is 14.

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ACOUSTICS Interfaces Manual

Node Names:
Any nodes defined should use node names as follows:

VESSEL V
GUN G
STREAMER S
BUOY B
NAVBUOY N

For example, ‘G2V1’ would be gun2 on vessel1.

Both AC_SYNTRON_MULTITRAK (smacid) and AC_SYNTRON_MULTITRAK_O (smaco)
decode the same string format, however, the AC_SYNTRON_MULTITRAK interface uses both
the Object Type (Vessel, Gun, Streamer etc.) and the Transmit/Receive IDs from the data field to
match of the transmitter and receiver ids from the RTCN. This is the preferred interface to use.
The AC_SYNTRON_MULTITRAK_O interface uses only the transmit and receive ids from the
data field to match the transmitter and receiver ids from the RTCN. This method could potentially
cause problems if the same TxIDs and RxIDs are used for different nodes (i.e. Vessel, Gun
Streamer etc.)

Allocated Channel Numbers

Channel Description Notes
1-8 As per “Standardised Acoustic Channel Allocation” on page 1-1.
9-n Acoustic ranges Configured at RTCN.
User configures which ranges are returned in each
channel slot by specifying the unit Tx and Rx ID's.
Ranges are returned in milliseconds.

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Interfaces Manual COMPASS

Chapter 2 - COMPASS
This chapter contains details of RTNU and RTNµ serial interfaces for compass. For details of
virtual interfaces, please refer to Chapter 21 - ’VIRTUAL INTERFACES’.

Digicourse Bird Data, Extended Binary Format

Code Name digpb
digts
INT File CM_DIGI_PSIB
CM_DIGI_TS
Group COMPASS

Both interfaces return the same channels but digts has a timestamp.
The CSL Nav system can trigger Digicourse equipment in one of two ways:
• Closure from Closure Unit to Digicourse DMU;
• ASCII "p" from ICC serial port to Digicourse equipment.
Digicourse will respond with 4 ASCII synchronisation characters (SYNC) and message byte
count before sending the bird data binary message.
The complete message consists of main header followed by 3 blocks:
Description Index Size Type Comment
Sync Characters 0 4 ASCII “SYNC”
Byte Count 4 2 int‘ Message Byte Count, MSB 1st.
See Note 1.
: : : : :
Compass Heading Block
: : : : :
Bird Depth Block
: : : : :
Bird Fin Angle Block

Each block contains a 3 Byte header and checksum at end of block:

Message Types: Compass Heading = $11

Bird Depth = $12

Fin Angle = $13.

Compass Heading Block

Description Index Size Type Comment
Byte count 0 2 int LSB 1st. See Note 2.
Message type 2 1 byte 0x11
Compass Heading
Unit # to follow 3 1 byte See Note 3.

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COMPASS Interfaces Manual

Description Index Size Type Comment

Cable Number 4 1 byte 0 to 25
Vessel Number 5 1 byte 0 to 7. See Note 4.
Heading 6 1 byte Tenths of a degree
Heading/Status 7 1 byte Bits 0-3, Heading MSB
Bit 4, Status (0=OK, 1=bad)
Bit 5-7, not used
Repeat Compass Headings (Index 3-7) for number of Birds:
: : : : :
CheckByte 1 byte XOR of all previous Bytes.

Bird Depth Block can be output in feet or metres:

Bird Depth Block (Feet)

Description Index Size Type Comment
Byte count 0 2 int LSB 1st. See Note 2.
Message type 2 1 byte 0x12
Bird Depths
Unit # to follow 3 1 byte See Note 3.
Cable Number 4 1 byte 0 to 25
Vessel Number 5 1 byte 0 to 7. See Note 4.
Depth 6 1 byte Depth in feet (1ft. Resolution)
Depth Status 7 1 byte Bits 0-2, Not used
Bit 3, Sign Bit (0=Pos, 1=Neg)
Bit 5-6, not used
Bit 7 Depth Units (0=feet,
1=metres)
Repeat Bird Depths (Index 3-7) for number of Birds:
: : : : :
CheckByte 1 byte XOR of all previous Bytes.

Bird Depth Block (Metres)

Description Index Size Type Comment
Byte count 0 2 int LSB 1st. See Note 2.
Message type 2 1 byte 0x12
Bird Depths
Unit # to follow 3 1 byte See Note 3.
Cable Number 4 1 byte 0 to 25
Vessel Number 5 1 byte 0 to 7. See Note 4.
Depth 6 1 byte Depth in 10th metres LSB
Depth Status 7 1 byte Bits 0-2, Depth MSB
Bit 3, Sign Bit (0=Pos, 1=Neg)
Bit 5-6, not used
Bit 7 Depth Units (0=feet,
1=metres)

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Interfaces Manual COMPASS

Description Index Size Type Comment

Repeat Bird Depths (Index 3-7) for number of Birds:
: : : : :
CheckByte 1 byte XOR of all previous Bytes.

Fin Angle Block

Description Index Size Type Comment
Byte count 0 2 int LSB 1st. See Note 2.
Message type 2 1 byte 0x13
Bird Depths
Unit # to follow 3 1 byte VA - See Note 3.
Cable Number 4 1 byte 0 to 25
Vessel Number 5 1 byte 0 to 7. See Note 4.
Fin Angle 6 1 byte Fin angle (10ths degrees)
Fin Angle Status 7 1 byte Bits 0-2, Not used.
Bit 3, Sign Bit (0=Pos, 1=Neg)
Bit 4, Status (0=OK, 1=Neg)
Bit 5-7, Not used
Repeat Fin Angle (Index 3-7) for number of Birds:
: : : : :
CheckByte 1 byte XOR of all previous Bytes.

END OF MESSAGE
Notes:
1. Total number of Bytes in message, not including SYNC pattern and message Byte count.
Two bytes: MSB followed by LSB.
2. Block Byte count, LSB first: total number of Bytes in block.
3. VA - Virtual Address:
If (64 < VA < 127) THEN Unit Number = (VA - 64) DigiBird.
If (160 < VA < 191) THEN Unit Number = (VA - 160) Optical.
4. Add 1 for actual vessel number.

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COMPASS Interfaces Manual

Channel Description Notes

nC+5 Fin Angle 1 DDD.D
nC+6 Bird Depth 2 MMM.M
nC+7 Fin Angle 2 DDD.D
: : :
nC+2+(nC*2) Bird Depth n MMM.M
nC+3+(nC*2) Fin Angle n DDD.D

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Interfaces Manual COMPASS

Digicourse Bird Depth / Angle Interface

Code Name digbd
INT File CM_DIGI_BIRD_DEPTHS
Group COMPASS

Expected Input
Field description Size in bytes Remarks
24 hour time format hh:mm:ss 8
xxxxxxxxx 9 Extra field
Number of birds 2 <= 64

For each Bird the following data block (16 bytes of data):
Field description Size in bytes Remarks
Bird status 1 ‘B’ = Good
‘b’ = Bad
Temperature status 1 ‘T’ = Good
‘t’ = Bad
Unit Number 2 0 to 63
Depth 4 0 to 6069 cm
Fin angle 4 Note 1
Temperature 4 Note 2

Notes:
1. Temperature in degrees Centigrade = (reading * 0.1) - 20
2. Fin angle in degrees = (reading * 0.1) - 18.5

Allocated Channel Numbers

Channel Description Notes
1 Time
2 Water Depth
3 No of Compasses
4 Compass Time Offset
5 Depth Time Offset
6 Reserved 1

Each subsequent channel will contain bird depth.

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COMPASS Interfaces Manual

Digicourse Compass ASCII Format

Code Name digca
INT File CM_DIGI_COMP_A
Group COMPASS

Item Description Bytes

Time hh:mm:ss 8
Event No. Current Event no. 5
No Compasses 0 - nC inclusive 2
For each compass:
Status C = good, c = bad 1
Unit No Unit no. 0-31 inc. 2
Heading 0-3599 in 10ths of degrees 4
No Birds 0 - nB 2
For each bird:
Bird Status B = good, b = bad 1
Temp status T = good, t = bad 1
Unit no 0 - 63 2
Depth 0 - 6096 in cm 4
Fin Angle 0 - 37 (degrees - 10ths) 4
Temp 0 - 80 (ºC - 10ths) 4
<CR> Line Terminator

Notes:
• This interface decodes string with Compass & Bird Blocks only.
• To compute the Fin Angle, e.g. Value = 138:
Fin = (0.1 * 138) - 18.5 = -4.7 Degs
• This translation requires that no -ve sign or sign bit conventions be used.

Channel Allocation
Channel Description
1 Time
2 Water Depth
3 Number of Compasses (nC)
4 Compass Time Offset
5 Depth Time Offset
6 Reserved 1
: :
nC+2 Heading Unit nC
nC+3 Number of Birds (nB)
For each Bird:
nC+4 Depth - Bird 1

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Interfaces Manual COMPASS

Channel Description
nC+5 Fin Angle - Bird 1
nC+6 Depth - Bird 2
nC+7 Fin Angle - Bird 2
: :
nC+2+(nB*2) Depth - Bird nB
nC+3+(nB*2) Fin Angle - Bird nB

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COMPASS Interfaces Manual

Digicourse 293 Streamer Depth / Compass Interface

Code Name dig293
INT file CM_DIGI_293
Group COMPASS

Interface for use in conjunction with Digicourse 293 streamer depth, compass bird.

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Binary String data

The first 24 bytes contain a general description header block and for each interface encoded in
the data block, a 24 byte description block is defined.
Description Form Field
Shotpoint Number 7 BCD digits + sign Word 1-2
Software identification BB MM YY VV Word 3-6
Not Used
Size of header in bytes Word 8
No of interface description blocks Word 9
File number Coded as 4 BCD digits Word 10
Header ID 4 ASCII characters “GEXT” Word 11-12

Description Form Field

Header Block Number Word 1
Interface device code Word 2
Interface Name 8 ASCII characters Word 3-6
Byte offset in header block for interface Word 7
data
No of bytes in interface data block Word 8
No of interface units connected Word 9
Device Time Word 10
Data block format code 1 in bit 0, compass data Word 11
1 in bit 1, depth data
1 in bit 2, fin data
Data block valid status 1 = OK, 0 = NOK Word 12

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Interfaces Manual COMPASS

Compass Heading Block

Description Index Size Type Comment
Byte Count 0 1 Byte Num bytes in block
Num units is
(value -3)/3
Message type compass heading 1 1 Byte 0x01
Data from RU 1
Unit Number 2 1 Byte 0x40 + Unit number
Heading LSB 3 1 Byte
Heading MSB + Validity + Cable Id 4 1 Byte 0x10 if invalid
0x0f Heading MSB
0x60 Cable ID

Repeat Index 2-4 for num units

CRC 1 Byte CRC for all previous

Depth Block
Description Index Size Type Comment
Byte Count 0 1 Byte Num bytes in block
Num units is
(value -3)/3
Message type compass heading 1 1 Byte 0x01
Data from RU 1
Unit Number 2 1 Byte 0x40 + Unit number
Depth LSB 3 1 Byte
Depth MSB + Validity + Cable Id + Sign + 4 1 Byte 0x10 if invalid
measurement unit 0x07 Heading MSB
0x60 Cable ID
0x08 if sign is neg
0x80 if metric, else feet

Repeat Index 2-4 for num units

CRC 1 Byte CRC for all previous

Fin Angle Block

Description Index Size Type Comment
Byte Count 0 1 Byte Num bytes in block
Num units is
(value -3)/3
Message type compass heading 1 1 Byte 0x01
Data from RU 1
Unit Number 2 1 Byte 0x40 + Unit number
Fin Angle 3 1 Byte
Validity + Cable Id + Sign 4 1 Byte 0x10 if invalid
0x60 Cable ID
0x08 if sign is neg

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COMPASS Interfaces Manual

Repeat Index 2-4 for num units

CRC 1 Byte CRC for all previous

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Interfaces Manual COMPASS

Syntron MultiTRAK Bird Data Including Wing Angle

Code Name smcmp2
INT File CM_SYNTRON_MULTITRAK
Group COMPASS

Initial version is purely passive, simply accepting compass, bird depth outputs as selected by the
host computer.

Expected Input
Frame structure

SYN SYN SOB MSB LSB BTYPE .....DATA..... CRC

Byte
1 SYN Sync char 0xAA
2 SYN Sync char 0xAA
3 SOB Start of Block
4 MSB Block length msb
5 LSB Block length lsb
6 BTYPE Message type
7 DATA Variable data block
:

The block is terminated by two checksum bytes, the first containing an exclusive OR of bytes 4
through to block end (not including checksum bytes) and the second or last byte containing the
sum of bytes 4 through to the end (again not including checksum bytes).
The BTYPE (message type field) contains one of the following values
BTYPE Message Type
6 Acoustic range data (MultiTRAK Format #1)
7 Heading data (MultiTRAK Format)
8 Depth data (MultiTRAK Format)
9 Wing angle (MultiTRAK Format)
10 Reserved
11 Compass serial numbers (MultiTRAK Format)
12 Battery pack serial numbers (MultiTRAK Format)
13 Temperature (MultiTRAK Format)
14 Acoustic range data (MultiTRAK Format #2).C

This version decodes compass and depth data, and wing angles.
Compass and depth channel numbers are allocated according to streamer IDs, i.e

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COMPASS Interfaces Manual

Streamer A Streamer B
Compass 1A Channel 5 Compass 1B Channel 65
Depth 1A Channel 6 Depth 1B Channel 66
Wing Angle 1A Channel 7 Wing Angle 1B Channel 67
: : : :
Compass 20A Channel 62 Compass 20B Channel 122
Depth 20A Channel 63 Depth 20B Channel 123
Wing Angle 20A Channel 64 Wing Angle 20B Channel 124

Streamer C Streamer D
Compass 1C Channel 125 Compass 1D Channel 185
Depth 1C Channel 126 Depth 1D Channel 186
Wing Angle 1C Channel 127 Wing Angle 1D Channel 187
: : : :
Compass 20C Channel 182 Compass 20D Channel 242
Depth 20C Channel 183 Depth 20D Channel 243
Wing Angle 20C Channel 184 Wing Angle 20D Channel 244

The interface will decode a maximum of 80 RU compass units, i.e. 20 per streamer. Currently
only four streamers are supported.

Allocated Channel Numbers

Channel Description Notes
1 Time
2 Water Depth
3 No of Compasses
4 Compass Time Offset
5 Depth Time Offset
6 Reserved 1

Options
The interface will decode the compasses, depths and wings and insert them into an ascending
channel number. You can reverse this order if the compass order as defined in the SCN is
different to incoming data order. To do this, select the interface in the RTCN Interface Editor,
select Update from the Options menu, click on the Configuration tab and select the Reverse sort
box.

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Interfaces Manual COMPASS

Syntron - Syntrak CUS Compasses

Code Name scusb
INT FIle CM_SYNTRON_CUS
Group COMPASS

The CUS (Cable Utility System) provides 2 means by which data is transferred to the host:
automatically, at the end of the compass scan; or by specific request via the host interface port.

Possible Block Types

1 RU Heading
2 RU Depth
3 RU Wing Angle
4 RU Battery Voltage
5 RU Internal Pressure
6 Transverse Axis Raw Counts
7 Inline Axis Raw Counts
28 RU Body Serial Number
29 RU Compass Serial Number

• Heading, Depth & Wing Angle data blocks ONLY are decoded.
• Full message may be preceded by ASCII ACK (0x06), but this should be ignored by the
srf functions.

RU Heading Block
Description Index Size Type Comment
Byte count 0 1 byte # Bytes in Block
Data type 1 1 byte [0x01] - Heading
[0.1 degree]
Compass Heading:
RU # 2 1 byte
Heading 3 1 byte Tenths of a degree
Heading/Status 4 1 byte Bits 0-3, Heading MSB
Bit 4, No Response Bit
(0=OK, 1=No Response)
Bit6 Bit5
0 0 Chan A
0 1 Chan B
1 0 Chan C
1 1 Chan D
Bit 7 Not used.

Repeat Compass Headings (Index 2-4) for number of RUs:

: : : : :
CheckByte 1 byte XOR of all previous Bytes.

13-2
RU Depth Block
Description Index Size Type Comment
Byte count 0 1 byte # Bytes in Block
Data type 1 1 byte [0x02] - Depth
[0.1m or feet]
Compass Heading:
RU # 2 1 byte
Depth 3 1 byte Bits 0-7, Depth
Depth/Status 4 1 byte Bits 0-2, Depth
Bit 4, No Response Bit
(0=OK, 1=No Response)
Bit6 Bit5
0 0 Chan A
0 1 Chan B
1 0 Chan C
1 1 Chan D
Bit 7 Depth Units
(0 = feet, 1 = 0.1m)

Repeat Compass Headings (Index 2-4) for number of RUs:

: : : : :
CheckByte 1 byte XOR of all previous Bytes.

RU Wing Angle Block

Description Index Size Type Comment
Byte count 0 1 byte # Bytes in Block
Data type 1 1 byte [0x03] - Wing Angle
[0.25 degree incs]
Compass Heading:
RU # 2 1 byte
Depth 3 1 byte Bits 0-7, Wing Angle
Depth/Status 4 1 byte Bits 0-2, Wing Angle
Bit 3, Sign (0 = +ve)
Bit 4, No Response Bit)
(0 = OK, 1 = No Response)
Bit6 Bit5
0 0 Chan A
0 1 Chan B
1 0 Chan C
1 1 Chan D
Bit 7 Not used
Repeat Compass Headings (Index 2-4) for number of RUs:
: : : : :
CheckByte 1 byte XOR of all previous Bytes.
Interfaces Manual COMPASS

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Interfaces Manual CURRENT PROFILER

Chapter 3 - CURRENT PROFILER

This chapter contains details of RTNU and RTNµ Current Profiler serial interfaces.

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Interfaces Manual CURRENT PROFILER

FUGRO SEIS ADCP string

Code Name seisadcp
INT File CP_SEIS_ADCP
Group CURRENT PROFILER

FUGRO GEOS SeisADCP Output String, data for 1 bin only will be output.

Communication Parameters
Baud 9600
Parity None
Data Bits 8
Stop Bits 1

Typical ASCII String

$,SeisADCP,09-Apr-2001,00:17:50,9,0.33,301,0.33,301,*2959<CR><LF>
Description Form Field
Start Char "$" 0
ID "SeisADCP" 1
Date dd-mmm-yyyy 2
Time hh:mm:ss 3
Depth (of water) Metres (integer) 4
Water Speed (uncorrected) Knots (2 Dec places) 5
Water Direction (uncorrected) Degrees (integer) 6
Current Speed (corrected) Knots (2 Dec places) 7
Current Direction (uncorrected) Degrees (integer) 8
Checksum 32-bit Unsigned Integer 9
CRLF 2 Termination characters

Allocated Channel Numbers

Channel Description Notes
1 - 25 As per “Standardised Current Profiler Channel
Allocation” on page 1-3
26 - 35 Channels 26 to 35 contain data for Depth Cell in input
string. Only 1 Depth Cell output from Fugro SeisADCP

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CURRENT PROFILER Interfaces Manual

Nortek ADP Extended ASCII (with STX/ETX)

Code Name noradp
INT File CP_NORTEK_ADP
Group CURRENT PROFILER

Notes:
• This ASCII data output type contains data from one ADP profile, including both header
information and profile data. The output used has <STX> as the first character and <ETX>
as the last.
• Each field is of fixed size, padded with spaces and with space delimiters.
• The first 4 lines are of Header data, each line is terminated by <CR><LF>.This is followed
by profile data which is tabular in format, 10 columns and 1 row for each depth cell
recorded. Each row/line is terminated by <CR><LF>. The first 9 parameters of the output
data are transmitted.
• Row 1 of Header data has the first field as data type which should always be 16. The sec-
ond last field is Orientation and the last field is Coordinate system.
• Row 2 of Header data has its first field as number of cells which indicates the number of
lines of data to follow four lines of header. The second field is the cell’s size in cm and the
third field is the blanking distance in cm.
• Row 3 of Header data contains heading, pitch and roll data. Also includes mean tempera-
ture, pressure, and speed of sound in water.
• Row 4 of Header data contains GPS data, Vessel Speed data, and system variables relat-
ing to internal system operation.
• The 5th row and beyond contains the Profile Data. There is one row for each cell. Each
cell is fomatted as follows:
Header lines 1-3 are as for ASCII output.
Header line 4:
Field Description
1 GPS coordinate system (0=geog, 1=map)
2 GPS latitude (in 0.0000001 deg) or northing (in 0.01m)
3 GPS longitude (in 0.0000001 deg) or easting (in 0.01m)
4 vessel north speed (in 0.01 m/s)
5 vessel east speed (in 0.01 m/s)
6 vessel water speed (in 0.01 m/s)
7 vessel water speed direction (in 0.1 deg)
8 water speed coordinate system (1=XYZ, 2=ENU)
9 correction mode (0=DGPS, 1=bottomtrack)
10-14 system variables

All speed values are converted into metres per second.

Each row of profile data has the following format:
Column Number of Field Description
Number Characters
1 3 Depth cell number
2 7 Raw Velocity data (Vx) in mm/s
3 7 Raw Velocity data (Vy) in mm/s

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Interfaces Manual CURRENT PROFILER

Column Number of Field Description

Number Characters
4 7 Raw Velocity data (Vz) ini mm/s
5 7 Raw Velocity data (VEast) in mm/s
6 7 Raw Velocity data (VNorth) in mm/s
7 7 Raw Velocity data (VUp) in mm/s
8 7 Corrected Velocity data (Vx) in mm/s
9 7 Corrected Velocity data (Vy) in mm/s
10 7 Corrected Velocity data (Vz) ini mm/s
11 7 Corrected Velocity data (VEast) in mm/s
12 7 Corrected Velocity data (VNorth) in mm/s
13 7 Corrected Velocity data (VUp) in mm/s
14 4 Amplitude data (Beam 1) in counts. (1 count = 0.43 dB)
15 4 Amplitude data (Beam 2) in counts. (1 count = 0.43 dB)
16 4 Amplitude data (Beam 3) in counts. (1 count = 0.43 dB)

Sample Output
Sample of output data for 4 output profiles is shown below (fields are separated by white spaces):

Allocated Channel Numbers

Channel Description Notes
1 - 25 Same as Standardised Current Profiler, see
“Standardised Current Profiler Channel Allocation” on
page 1-3.
26 onwards Channels 26 to 35 repeated for each Depth Cell in
input string

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CURRENT PROFILER Interfaces Manual

RDI ADCP Ensemble – Broad/Narrow band (with STX/ETX)

Code Name rdiband
INT File CP_RDI_BAND
Group CURRENT PROFILER

This interface decodes data from the RDI ADCP Profiler Ensemble Out Data stream. The ASCII
data output type contains data from one ADCP Broadband or Narrowband profile. Each
ensemble out data stream begins with <STX> as the first character and <ETX> as the last. The
datatypes are defined with a 2-byte flag at the start of each line which determines how the line is
decoded. At least one space separates the fields within each data type. Each line of data ends
with a carriage return <CR> and line feed <LF> sequence.

Sample Output
Sample output of broadband data for 4 output profiles is shown below:

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Interfaces Manual CURRENT PROFILER

Sample output of narrow band data for 3 output profiles is shown below:

Allocated Channel Numbers

Channel Description Notes
1 - 25 As per “Standardised Current Profiler Channel
Allocation” on page 1-3
Channels 26 to 35 repeated for each Depth Cell in input string.

On RTNµ or PowerRTNU
In addition to decoding the input stream from the RDIBAND current profiler, this interface
transmits a message once per second when running on the RTNµ or PowerRTNU (not when
running on RTNU). The message transmitted is as follows:
“$$[Link]<CR><LF>”
Where:
$$GPS Start of string identifier
gggg.g Gyro (Degrees)
cccc.c CMG (Degrees)
xxxx.x Vessel speed in m/s
jjj Julian Day (1->366)
YYYY Year
HH Hour
MM Minute
SS Seconds
hh 1/100th seconds
d Longitudinal Direction (E or W)
DDD Longitudinal degrees
[Link] Longitudinal decimal minutes
d Latitudinal Direction (E or W)
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DDD Latitudinal degrees

[Link] Latitudinal decimal minutes
<CR><LF> End of string delimiters

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Chapter 4 - DGPS
This chapter contains details of RTNU and RTNµ serial interfaces for DGPS. For details of virtual
interfaces, please refer to Chapter 21 - ’VIRTUAL INTERFACES’.

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DGPS MICROFIX
Code Name microfix
INT File DG_MICROFIX
Group DGPS

Interface to decode the Lat/Lon string from a Microfix control measurement unit. At present this
interface can only decode one block with 4 Code IDs and their corresponding ranges. They are
decoded in the order they appear in the message string.
Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String is as follows :

EVENT:FFFF TIME:HH-MM-SS DDD MM’[Link]”W DD MM’[Link]”S<CR><LF>
NN xxxxxx.x NN xxxxxx.x NN xxxxxx.x NN xxxxxx.x<CR><LF>
Description Form Field
Event/Fix number FFFF 7-10
Time hh-mm-ss 18-25
Longitude DDD MM’[Link]”W 28-40
Latitude DD MM’[Link]”S 43-55
Code ID NN 57-58
Code Range xxxxxx.x 59-71

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4.

In addition, a further 10 channels are appended: 5 Blocks containing a channel for “Code ID” and
the “Code ID Range”

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FUGRO MRDGPS QC Output

Code Name mrdgps
INT File DG_MRDGPS
Group DGPS

Timestamp From data string if time is OK

If time difference greater than 8 seconds from RTNU timestamp, use RTNU
timestamp
Reference UTC (GPS converted to UTC internally by interface)
Interface Type Serial RS232
Data Type ASCII

Expected Input
The message format is an ASCII string enclosed in square brackets ([ ]), terminated by a CR LF.
Content Format Bytes Unit Comment
Start Character A1 1...1 “[“
System Name/Version A24 2…25 FUGRO MRDGPS V 2.04.01
Week Number I4 26…29 Week num since GPS Week number roll
over.
FIX Time Tag (GPS F9.1 30…38 secs Secs into the week
Time)
Age of Fix F4.1 39…42 secs Time of the 1st char of the data string
being output to Nav. system minus time of
position.
Latitude A14 43…56 deg min “ ddd [Link]” Degrees Decimal
minutes and note space
Longitude A15 57…71 deg min “ ddd [Link]” “ “ “
Height F6.2 72…77 (m) Antenna Height above Ellipsoid
HDOP F5.1 78…82
PDOP F5.1 83…87
Unit Variance fix F7.3 88…94
Variance Lat F7.1 95…101 (m2)
Covariance Lat/Lon F7.1 102…108 (m2)
Variance Lon F7.1 109-115 (m2)
Variance Height F7.1 116…122 (m2)
External Reliability F6.1 123…128 (m) The Ext Rel is the max potential effect of
an undetectable error in an observation.
Computed from the MDEs with the power
of the test set to 80% (UKOOA
Guidelines)
Fix Status I2 129…130 0=No/Bad Fix, 1=Height Aiding, 2=Fixed
Height, 3=3D Fix
No. of sats used I3 131…133 No. of sats used for the fix
PRNs used I3*n 134… PRNs used for this fix

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Content Format Bytes Unit Comment

No. of Ref stations I3
used
Station ID. [Link]. No 1
Correction age. [Link]. No 1
Unit Variance fix. [Link]. No 1
Weight in solution. [Link]. No 1
No of common SVs. [Link]. No 1
…
Station ID. [Link]. No n
Correction age. [Link]. No n
Unit Variance fix. [Link]. No n
Weight in solution. [Link]. No n
No of common SVs. [Link]. No n
End Char A1 “]”
Terminator A2 <CR><LF>

Description Notes
Sat#7 ID
Sat#8 ID
Sat#9 ID
Sat#10 ID
Sat#11 ID
Sat#12 ID
Sat#13 ID
Sat#14 ID
Sat#15 ID
Reference Station 1 ID
Reference Station 2 ID
Reference Station 3 ID
Reference Station 4 ID
Reference Station 5 ID
Reference Station 6 ID
Reference Station 7 ID
Reference Station 8 ID
Reference Station 9 ID
Reference Station 10 ID
Height wrt Ellip Height above the Ellipsoid or Spheroid in Metres
N Reference Stations
Lat Variance
Lat/Lon Co-Variance
Lon Variance
Height Variance
These are followed by 10 Reference Station blocks containing the following:
Ref Stat 1 ID
Ref Stat 1 Correction Age
Ref Stat 1 Unit Variance
Ref Stat 1 Weighting
Ref Stat 1 No of common sats

Please refer to “Standardised DGPS Channel Allocation” on page 1-4 for channel numbers.

Interface Options
Transit Option
This interface supports a ‘Transit option’. When selected, this relaxes the quality checking and
will not set the latitude/longitude/height values INVALID if a 3D position is not available.
To set this mode, select the interface in the RTCN Interface Editor, select Update from the
Options menu, then click on the Configuration tab and select the Transit mode checkbox.
UTC to GPS Offset
The MRDGPS system outputs the time referenced to GPS time. The interface then applies a
UTC to GPS difference to convert the time to UTC reference. The RTNµ is capable of
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Interfaces Manual DGPS

determining this value from the internal GPS receiver, so the interface on the RTNµ will always
compute the correct time.
The RTNU, however, is currently unable to determine this value automatically so a user
selectable option is available to input the current UTC to GPS difference. As GPS time is always
ahead of UTC time, this should be a positive integer. To select the offset, select the interface in
the RTCN Interface Editor, select Update from the Options menu, click on the Configuration tab
and select the UTC to GPS Offset checkbox. If left unchecked, the interface defaults to an offset
of 13.0 seconds.

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DGPS Interfaces Manual

FUGRO XP Expanded and Concise Format

Code Name xpout
INT File DG_FUGRO_XP_FORMAT
Group DGPS

Description
Interface to decode the Fugro XP Concise and Expanded Output data string format.
Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String

General Section
1 2 3 4 5 6 7
0123456789012345678901234567890123456789012345678901234567890123456789012345
**[Link]
8 9 0 1 2 3 4
67890123456789012345678901234567890123456789012345678901234567890
[Link]
Decription Form
Hexadecimal identifier X
UTC Time of Fix HHMMSS.s
Date of Fix DDMMYY
Age of Data AA.a
Latitude [Link]
Latitude Hemisphere (N or S) N
Longitude [Link]
Longitude Hemisphere (E or W) E
Height above MSL -999.99 to 9999.99(m) [Link]
Height of MSL above WGS84 ellipsoid (m) [Link]
95% Lat Standard deviation/Precision Value (m) [Link]
95% Lon Standard deviation/Precision Value (m) [Link]
Correlation Coefficient -1 to +1 [Link]
95% Height Standard Deviation / Precision Value (m) [Link]
95% Error Ellipse semi-major axis (m) [Link]
95% Error Ellipse semi-minor axis (m) [Link]
95% Error Ellipse Max Direction wrt North (degrees) ZZZ
Latency (s) LL.l
HDOP HHH.h (DDD^D)

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Decription Form
PDOP PPP.p (DDD^D)
Calculation Mode M
0 – No solution
1 – XP
2 – Dual Frequency Diff. 3D
3 – Dual Frequency Diff. 2D
4 – Single Frequency Diff. 3D
5 – Single Frequency Diff. 2D
XP Mode M
0 – No solution
1 – XP
2 – Converging to XP
3 – Backup Solution 1
4 – Converging to Backup Solution 1
5 – Backup Solution 2
6 – Converging to Backup Solution 2

Differential Only Section

1 2 3 4 5 6 7 8
567890123456789012345678901234567890123456789012345678901234567890123456789012345
[Link] . . . . [Link] . . . . iiiX*XX^
6789012345678901234
Description Form
[Link] Unit variance
F Test (P=Pass, F=Fail) F
External Reliability (m) [Link]
PRN with highest External Reliability Value BB
Number of SVs used in calculation NN
sataellite PRN Numbers nn .. .. nn
Number of reference Stations used(0-99) RR
Number of Reference Stations in CC
Configuration(0-99)
The ID Code of Ref Stn 1 (3 digit code) iii
Number of SVs from Ref Stn 1 (Hex character) X
.
.
.
The ID Code of Ref Stn N (3 digit code) iii
Number of SVs from Ref Stn N (Hex character) X
Checksum *XX
Carriage Return ¬
Line feed ^

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DGPS Interfaces Manual

XP Only Section
1 2 3 4 5 6 7 8 9 0
567890123456789012345678901234567890123456789012345678901234567890123456789012345
[Link] .. .. [Link] .. .. nniii*XX^
6789012345678901234
Description Form
Unit variance, delta calculation [Link]
F Test delta calculation (P=Pass, F=Fail) F
External reliability delta (m) [Link]
PRN with Highest External Reliability Value BB
Number of SVs used in delta calculation NN
Satellite PRN Numbers in the delta calculation nn .. .. nn
Unit variance, filter calculation [Link]
Innovation Check (P=Pass, F=Fail) I
PRN with Highest External Reliability Value BB
Number of SVs used in delta calculation NN
Satellite PRN Numbers in the filter calculation nn .. .. nn
XP SkyFix Beam ID iii
Checksum *XX
Carriage Return ¬
Line Feed ^

NOTE: The Differential or XP Section follow immediately after the General section has ended.

Allocated Channel Numbers

All Channels are as described in the “Standardised DGPS Channel Allocation” on page 1-4 but in
addition the following custom channels have been defined:
Channel Description Notes
102 95% Hgt Standard Deviation / Precision value (m)
103 95% Lat Standard Deviation / Precision value (m)
104 95% Lon Standard Deviation / Precision value (m)
105 Correlation Coefficient -1 to +1
106 XP Mode (0-6)
107 PRN with Highest External Reliability Value
108 Number of Ref Stations in configuration
109 Unit Variance (Filter calculation)
110 Innovation Check (1=Pass, 0=Fail)
111 External Reliability (filter calculation)
112 PRN with Highest External Reliability (filter calc)
113 Number of sats used in filter calculation
114 XP SkyFix Beam ID
115-129 Satellite PRN Numbers in filter calculation
130-139 Number of SVs from Ref. Station N (Differential Section)
140 Latency (s)

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Additional Notes
We decode up to a maximum of 10 Reference station IDs. Should the number of Reference
station IDs in the string exceed 10 then only the first 10 are decoded.
General Section
Height above Ellipsoid is calculated by Height above MSL + Height of MSL above ellipsoid.
“Calculation Mode” is output in the PCALC channel
Differential Section
“The number of SVs used in the calculation” is output to channel 31 “NSats tracked”. And the
satellite PRNs are output in the channels after it.
The Reference Station ID Codes are output to channels 57 to 66 with “The number of SVs from
Reference Station N” output to custom channels 130-139
XP Section
The Unit Variance and External Reliability delta calculation values are output to the respective
channels in the Standard DGPS Channel Allocation. (chan 25 and 28) while the Unit Variance
and External Reliability value for the filter calculation are output into the Custom Channels 108
and 110.
Satellite PRN numbers used in the delta calculation are output to channels 32-46 while the ones
used in the filter calculation are output to channels 115 to 129 of the Custom Channels.

Command Line Options

Format option – The default is Expanded Output format although the format can be toggled so
that the interface can decode the Concise Output format.
For the vimrdgps binary the consise mode can be accessed by running up the binary with the
–concise command line argument

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Kongsberg Diffstar Output

Code Name dfstar
INT File DG_DIFSTAR
Group DGPS

Typical ASCII String

Description Form Column
Record I.D. (21 or 22) nnnn 1
Space sp 5
Time of Position nnnnnnnn 6
Space sp 14
Age of Record nnnn 15
Space sp 19
Lat nnnnnnnnnnn 20
Space sp 31
Long nnnnnnnnnnn 32
Space sp 43
Height nnnnnnnn 44
Space sp 52
Ellipsoid error nnn 53
Space sp 56
ADOP nnnn 57
Space sp 61
BDOP nnnn 62
Space sp 66
VDOP nnnn 67
Space sp 71
SD nnnnn 72
Space sp 77
Diff State n 78
Space sp 79
Alt Aiding Mode n 80
Space sp 81
Nav State n 82
Space sp 83
No of Sats nn 84
Space sp 86
Sat No 1 nn 87
Space sp 89
Sat No 2 nn 90
Space sp 92

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Description Form Column

Sat No 3 nn 93
: : :
Record Terminator CR, LF.

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4.

Note: In this interface “Time Rec - Time Fix” is subtracted from ICC timestamp.

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Magnavox PMVXG Output String

Code Name mxv4200
INT File DG_MAGNAVOX_4200
Group DGPS

Typical ASCII String

$PMVXG,nnn,161119,2552.74888,N,05518.09810,E,00016.25,308.6,000.2,05,161118,05,1,1*4C
where nnn = 021 or 023
Type 021
Description Form Field
Start Chars "$PMVXG" 0
Message Type 021 1
UTC Time (secs into week) ssssss 2
Latitude [Link] 3
North/South indicator N/S 4
Longitude [Link] 5
East/West indicator E/W 6
Altitude (MSL) Float 7
Geoidal Height Float 8
Velocity East Float 9
Velocity North Float 10
Navigation mode 00 11
Checksum 00 12
CRLF AA 13

Type 023
Description Form Field
Start Chars "$PMVXG" 0
Message Type 023 1
UTC Time hhmmss 2
Latitude [Link] 3
North/South indicator N/S 4
Longitude [Link] 5
East/West indicator E/W 6
Altitude Float 7
COG Float 8
SOG Float 9
Navigation mode 00 10
Last Fix Time hhmmss 11
Last fix Navigation mode 00 12
Nav flag 0 13

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Description Form Field

Altitude reference 00 14
Checksum 00 15
CRLF AA 16

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4.

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Marconi Smart Antenna Positional Interface

Code Name smart_p
INT File DG_SMART_BIN
Group DGPS

This interface is used to decode the Marconi Smart Antenna CMC Binary Type 20 messages.
Use command line options to configure the Smart antenna to output the required messages.
Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Binary message contents

byte 1 [SOH]
byte 2 [ID #]
byte 3 [Cmp1 ID #]
byte 4 [Msg Data Length]
bytes 5-14 UTC TIME HR (byte) :MN(byte) :SC (long float)
bytes 15-18 Date DAY (byte), Month (byte) Year (word)
19-26 Latitute (radians) (long float) (-P1/2..P1/2)
27-34 Longitude (radians) (long float) (-P1..P1)
35-38 Altitude (metres) (short float)
39-42 Ground Speed (metres / sec) (short float)
43-46 Track Angle (radians) (-P1..P1)
47-50 Velocity North (metres / sec) (short float)
51-54 Velocity East (metres / sec) (short float)
55-58 Velocity Vertical (metres / sec) (short float)
59-62 HFOM (horiz figure of merit) (metres) (short float)
63-66 VFOM (metres) (short float)
67-68 HDOP (resolution 0.1 units) (word)
69-70 VDOP (resolution 0.1 units) (word)
71 Bits 0-4 - Nav Mode
0 - init required
1 - Initialised
2 - Nav 3-D
3 - Alt. Hold (2-D)
4 - Diff 3-D
5 - Diff 2-D
6 - Dead Reckoning
72 Bits 0-3 - num SVs

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73 System Mode and Satellite Tracking Mode

(node bit 7 reserved)
Bits 0-3 - System Mode
0 - Self Test
1 - Initialisation
2 - Acquisition
3 - Navigation
4 - Fault
Bit 6 - Satellite Tracking Mode
0 - All SVs in view
1 - Sky Search
74-75 Reserved
76-77 Checksum

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NMEA GPGGA Output String

Code Name nmgga
INT File DG_NMEA_GGA
Group DGPS

Typical ASCII String

$GPGGA,075742,4433.437412,N,05015.004744,E,2,,,-21.11,M,,,,*14 <CRLF>
Description Form Field
Start Chars "$GPGGA"
UTC of position fix 1
Latitude 2
Direction of Lat (N or S) 3
Longitude 4
Direction of Lon (E or W) 5
GPS quality indicator 0 - fix not valid 6
1 - GPS fix
2 - Diff GPS fix
3 – Military P-code fix
Number of SVs 0 to 12 7
HDOP 8
Antenna height Ref to Mean Sea Level (MSL) in metres 9
Geoidal Separation Difference in metres of the height 10
between the GEOID (MSL) and the
ELLIPSOID.
Age of Diff GPS data Type 1 or type 9 11
Diff stn ID 0000 to1023 12
CRC 13
CRLF AA 14

Extended Version ASCII Strings

$GPGSA,A,3,,,14,21,30,22,1,29,11,25,20,,2.1,11.2,1.8*0B
$GPGST,004407.00,0.3486,0.2411,0.2053,023.0720,0.2359,0.2112,0.6623*5A
$GPVTG,0.26,T,,M,0.01,N,0.02,K*61

GSA Sentence
The GSA sentence identifies the GPS position fix modes, the SVs used for navigation and the
DOP values for the position fix.
Description Form Col
Start Chars "$GPGSA" 0
Operation mode M=manual, forced 2D or 3D 1
a=automatic, 3D/2D
Fix mode 1=fix not available 2
2=2D fix
3=3D fix
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Interfaces Manual DGPS

Satellite IDs 3-14

PDOP 15
HDOP 16
VDOP 17
CRC 18
CRLF 19

GST Sentence
The GST sentence is used to support Receiver Autonomous Integrity Monitoring (RAIM). The
data is determined from ‘statistical analysis’ of the residuals following the C-Nav GPS receiver
computation of a position fix.
Description Form Col
Start Chars "$GPGST" 0
UTC of position fix [Link] 1
RMS of SD 2
SD of semi-major axis Metres 3
SD of semi-minor axis Metres 4
Orientation of semi-major Degrees from True North 5
axis
SD of Latitude Error Metres 6
SD of Longitude Error Metres 7
SD of Altitude Error Metres 8
CRC 9

VTG Sentence
The VTG sentence identifies the course over ground (COG) and the speed over ground (SOG).
Description Form Col
Start Chars "$GPVTG" 0
Course over Ground (COG) Degrees from True North (null value) 1
Course relative to True North “T” 2
indicator
Course over Ground (COG) Degrees from Magnetic North (null 3
value)
Course relative to Magnetic “M” 4
North indicator
Speed over Ground (SOG) Nautical miles per hour (knots) 5
Speed in knots indicator “N” 6
7

CRLF Metres 9

Allocated Channels
Data is returned as per the Standardised DGPS Channel Allocation. The following channels are
filled in for the GGA string:

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DGPS Interfaces Manual

Extra Channels for VTG

In addition to the above GGA channels, the following channels are also filled in for the VTG
string:
Description Notes
CMG
Bottom Speed

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Interfaces Manual DGPS

Note
In this interface GPS RX Time is normally used for timestamping. If the difference between
RTNU Time and GPS RX Time is greater than 8 seconds, use RTNU Time for Timestamping.
Channel 28 constantly displays this difference and, if it is greater than 8 seconds, it is flagged
INVALID.

Options
To set the following modes, select the interface in the RTCN Interface Editor, select Update from
the Options menu and click on the Configuration tab.
Transit Mode
In this mode the quality checking is relaxed.
Definable Minumum Quality
This allows you to change the minimum quality value accepted as a valid fix for incoming
messages. The Default it 2.
Extended Mode
When selected this enables the decoding of three additional nmea sentences – GSA, GST and
VTG. It is assumed that a sequence of strings will begin with a GGA sentence, followed by any
additional sentences. The interface waits until it has received all the required strings or another
GGA string before producing a single RAW item containing the information from all the strings.
Transmit Timeout (ms)
If no GST/GSA/VTG strings are received within the specified time period, the last received GGA
string is sent.
GST/GSA Timestamp diff (ms)
This checkbox and field enable and set the allowable difference in milliseconds between the
timestamp in the $GPGGA and $GPGST strings. If the timestamp of corresponding strings
differs by more than the amount entered here, the GST string will be discarded. The default
value is 0 seconds. So the timestamps must be the same.

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DGPS Interfaces Manual

NMEA GGK
Code Name nmggk
INT File DG_NMEA_GGK
Group DGPS

Interface to decode the PTNL, Time, Position, Position Type and DOP, string of the NMEA-0183
output.
Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String is as follows :

$PTNL,GGK,172814.00,071296,3723.46587704,N,12202.26957864,W,3,06,1.7,EHT-
6.777,M*48
Description Form Field
Field 1:$PTNL
Field 2:Msg type “GGK” or “GGK_SYNC”
Field 3:Time [Link]
Field 4:Date DDMMYY
Field 5:Longitude [Link]
Field 6:Direction of longitude “E” or “W”
Field 7:Latitude [Link]
Field 8:Direction of latitude “N” or “S”
Field 9:GPS Quality indicator 0: Fix unavailable/invalid
1: Autonomous GPS fix
2: Differential, floating carrier phase integer-
based soln. RTK(float)
3: Differential, fixed carrier phase integer-
based soln. RTK(fixed)
4: Differential code phase only soln.(DGPS)
Field 10: # of satellites in fix NN
Field 11: PDOP of fix
Field 12: Ellipsoidal height of fix EHTnnnnnn
Field 13: Unit of measurement of height “M” = metres

Allocated Channel Numbers

Refer to “Standardised DGPS Channel Allocation” on page 1-4.

Command Line Options

-transit
When this option is checked, the fix is always classed as valid despite the value decoded for the
GPS Quality. (Normally has to be equal or greater than 2 for a fix to be valid.)

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NMEA NR203 Multi string

Code Name nr203m
INT File DG_NR203M
Group DGPS

This interface decodes a compound string from the NR203 GPS Receiver containing multiple
messages. The actual messages decoded include…
• ZDA – Standard NMEA $..ZDA Time & Date message
• GLL – Standard NMEA $..GLL Geographic Position – Latitude/Longitude message
• NSV – NMEA message containing individual satellite information.

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String

$<CR><LF>
MRK,0<CR><LF>
ZDA,123336.8069,17,06,2001,13.0<CR><LF>
GLL,2924.11158,N,1211.07392,W, 75.97,M<CR><LF>
VTG,218.7,T,2.38,H,0.18,V<CR><LF>
SGD,-1.0,G,-1.0,M<CR><LF>
SYS,3T,9<CR><LF>
ZEV,0.28745E-006<CR><LF>
NSV,2,00,000,00,0.0,00.0,00,00,D<CR><LF>
NSV,7,00,000,00,0.0,00.0,00,00,D<CR><LF>
NSV,28,00,000,00,0.0,00.0,00,00,N<CR><LF>
NSV,1,00,000,00,0.0,00.0,00,00,D<CR><LF>
NSV,13,00,000,00,0.0,00.0,00,00,D<CR><LF>
NSV,4,00,000,00,0.0,00.0,00,00,N<CR><LF>
NSV,25,00,000,00,0.0,00.0,00,00,N<CR><LF>
NSV,0,00,000,00,0.0,00.0,00,00,N<CR><LF>
NSV,11,00,000,00,0.0,00.0,00,00,D<CR><LF>
NSV,0,00,000,00,0.0,00.0,00,00,N<CR><LF>
&
Description Form Field
Start Chars "$" 0
UTC of position fix ZDA,[Link],dd,mm,yyyy 1
Latitude [Link] 2
Direction of Lat (N or S) 3
Longitude [Link] 4
Direction of Lon (E or W) 5
Number of SVs NSV 6
Sat. i.d. number NSV,n,… 7
Repeated for “n” sats
End Character “&”
25-4
DGPS Interfaces Manual

Notes
• In this interface GPS RX Time is normally used for timestamping. If difference between
RTNU Time & GPS RX Time is > 8 Secs, use RTNU Time for Timestamping. Channel 28
constantly displays this difference & if > 8 Secs is flagged INVALID.
• This interface returns channel 79 of the ’Standardised DGPS Channel Allocation’ -
Custom Quality. Three criterea are used to assess whether a message is considered
good quality: GDOP must be between 0 and 10; LPME must be between 0 and 10; SYS
must equal 3T. GDOP and LPME are retrieved from the SGD message, preceeding the G
and M characters respectively. SYS is the first value in the SYS message.

26-4
Interfaces Manual DGPS

NR101 DGPS Interface

Code Name nr101
INT File DG_NR101
Group DGPS

Data Format:
Two strings are supported at present:
GLL,[Link],N,[Link],E,[Link]<CR><LF>
Where [Link] is latitude in degrees and minutes and [Link] is longitude in degrees and
minutes.
ZDA,hhmmss.s,dd,mm,yyyy,[Link]<CR><LF>
Where hhmmss.s is UTC time and dd,mm,yyyy is the date.
A GLL string will be decoded at all times. If it is preceded by a ZDA string, then the time in that
string will be used to timestamp the raw data; if there is no string, or if the time in the string is
more than a few seconds out from the RTNU time, then RTNU time is used instead.

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4.

Data is returned as per the Standardised DGPS Channel Allocation. At present, only the time,
latitude, longitude and RTNU Time Diff channels are filled in.

27-4
DGPS Interfaces Manual

Racal UKOOA Sentence

Code Name racal
INT File DG_RACAL_UKOOA
Group DGPS

Note: The RACAL UKOOA sentence is identical in format to the old Multifix QC output
string. This interface should be used in place of the Multifix QC output.
Timestamp From data string if time is OK. If time difference greater than 8 seconds
from RTNU timestamp, use RTNU timestamp.
Reference UTC
Interface Type Serial RS232
Data Type ASCII

Expected Input
Typical ASCII string is:
[eP0__1144440161199008W523515394N0014405622E00594S3009006001002001013004P01
20250 17260702081013172627002425305541130<CR><LF>
Field Contents
[ Start Character
e Length of message
p Message Type identifier
o Message version ID
_ Message Dependant Byte
_ Message Dependant Byte
11444440 UTC Time of Fix (HHMMSS^s)
161199 Date of Fix (DDMMYY)
008 Age of data (SS^s)
W Datum Indicator (W=WGS84, Z=Other Datum, ?=Datum Not Known)
523515394 Latitude (DDMMSS^sss)
N Lat compass point
0014405622 Longitude (DDDMMSS^sss)
E Long compass point
00594 Height (HHHH^h) –999.9 to 9999.9 in metres
S Height reference indicator
(S=Sheroidal Height, M=Height above MSL, i.e. orthometric)
H Mode (H=Height Aided, 3=3D Solution, ?=Unknown)
009 95% Error Ellipse max (metres) (DD^d)
006 95% Error Ellipse min (metres) (DD^d)
001 95% Error Ellipse Max direction (degrees) (DDD)
002 95% Latitude sd/precision value (metres) (NN^n)
001 95% Longitude sd/precision value (metres) (HH^h)
013 95% Height sd/precision value (metres) (HH^h)
004 Unit variance (UU^U)

28-4
Interfaces Manual DGPS

Field Contents
P F Test (P=Pass, F=Fail)
012 HDOP (DD^D)
025 PDOP (DD^D)
017 External Reliability (metres) (Largest position MDE at the configured
level – typically 80%)
26 LOP with external reliability (AA)
07 Number of satellites at the mobile (nn)
02…27 Satellite PRN numbers
00 W-Test rejected LOP
24 Total number of SVs used in solution
2 Number of reference stations used
530…554 Ref Station IDs
11 Optional additional data before checksum
30 Checksum
.. <CR><LF>

Note: “^” denotes implied decimal point

Allocated Channel Numbers

Description Notes
Rx Time GPS Time from Receiver
Latitude Degrees and Decimal degrees
Longitude Degrees and Decimal degrees
Height Metres
Height Datum 0 = Height above Ellipsoid or Spheroid
1 = Height above MSL or Geoid
Denotes the reference for the above Height field.
SD Latitude 95% Latitude sd/Precision Value (m)
SD Longitude 95% Longitude sd/Precision Value (m)
SD Height 95% Height sd/Precision Value (m)
PDOP Positional DOP
HDOP Horizontal DOP
PCALC Position Calculation Mode.
0=Unknown (“?” in message)
1=Height Aided (“H” in message)
2=3d Solution (“3” in message)
Unit Variance
F-Test F-Test Statistical Ratio
0=FAIL, 1=PASS
External Reliability
RTNU Time Diff RTNU-GPS Time Difference
Age of Fix Or Time Since Last Fix
Nsats Tracked Number of Satellites tracked
Sat#1 ID

29-4
DGPS Interfaces Manual

Description Notes
Sat#2 ID
Sat#3 ID
Sat#4 ID
Sat#5 ID
Sat#6 ID
Sat#7 ID
Sat#8 ID
Sat#9 ID
Sat#10 ID
Sat#11 ID
Sat#12 ID
Sat#13 ID
Sat#14 ID
Sat#15 ID
Height above MSL Height above GEOID – Mean Sea Level in metres
Reference Station 1 ID
Reference Station 2 ID
Reference Station 3 ID
Reference Station 4 ID
Reference Station 5 ID
Reference Station 6 ID
Reference Station 7 ID
Reference Station 8 ID
Reference Station 9 ID
Reference Station 10 ID
Height wrt Ellip Height above the Ellipsoid or Spheroid in metres
Shot Number
N Reference Stations
95% 1-Sigma Error Ellipse Max
95% 1-Sigma Error Ellipse Min
95% 1-Sigma Error Ellipse Max Degrees
Direction

Refer to “Standardised DGPS Channel Allocation” on page 1-4 for channel numbers.

Interface Options
This interface supports a “Transit” option, which when selected, relaxes the quality checking and
will not set the latitude/longitude/height values INVALID if a 3D position or height aided position is
not available. To set this mode, select the interface in the RTCN Interface Editor, select Update
from the Options menu, click on the Configuration tab and select the Transit mode checkbox.

30-4
Interfaces Manual DGPS

Sargas GPS Interface

Code Name sargas
INT File DG_SARGAS
Group DGPS

The Sargas binary data block is a variable length string of 92 chars + 6 * nSats.
The following data is decoded from the Sargas String:

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4.

Data is returned as per the Standardised DGPS Channel Allocation. At present, only the time,
latitude, longitude and RTNU Time Diff channels are filled in.

31-4
DGPS Interfaces Manual

Seadiff DGPS - Trimble 4000 Position Format

Code Name seadif
INT File DG_SEADIFF
Group DGPS

Output is similar to Trimble 4000 GPS Position and Calculation Output but inserts SPACE
characters at start of some fields.

Expected input
Name Value Format Position
Start Character [ a 1
ID 00 aa 2
Day aaa 5
Day of Year (Julian) nnn 9
Date dd-mmm-yy 13
Time hh:mm:ss 23
Latitude dd:[Link] 32
Lat (North/South) N/S a 42
Longitude ddd:[Link] 44
Lon (East/West) E/W a 55
Height (metres) snnnn 57
PDOP nn.n 63
Clock Offset (metres) nnnnnn 68
Vertical Vel (Knots) [Link] 75
Horizontal Vel (Knots) [Link] 83
Heading (rel True N, Degs) nnn.n 90
Frequeny Offset (ppm) [Link] 96
Cont Measurements (N/A) nnnn 108
Number of Satellites n 113
PRN number 1-N (Comma Sep) N(nn,) 115+
Stop Character ] a variable.

KEY:
a = text character; n = decimal character; s = sign.

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4.
102-(15 x n) n = Number of Satellites Defaults to 6 satellites

32-4
Interfaces Manual DGPS

Seadiff GECO
Code Name gecoqc
INT File DG_GECO_QC
Group DGPS

Expected input
Content Byte Format Unit Comment
Start Character 1...1 A1 [-] [
Record ID 2...3 I2 [-] = 01
Format Version 4...5 I2 [-] = 01 or 02
Nav point # 6...7 I2 [-] unique id identifying the position
System Name/Version 8...17 A10 [-] SDIFF*.**
Week Number 18...21 I4 [-] GPS week #
Fix Time Tage (GPS) 22...30 F9.1 [s] secs in week
Age of Fix 31...34 F4.1 [s] time of first txd char minus time of fix
Latitude 35...47 A13 [dm] ^dd^[Link] (^ = space)
Longitude 48...61 A14 [dm] ^ddd^[Link] (^ = space)
Height 62...66 F5.1 [m] antenna height above ellipsoid
HDOP 67...71 F5.1 [-]
VDOP 72...76 F5.1 [-]
Unit Variance 77...82 F6.2 [-]
Variance Lat 83...88 F6.2 [m2]
Covar Lat/lon 89...94 F6.2 [m2]
Variance Lon 95...100 F6.2 [m2]
Variance Height 101...106 F6.1 [m2]
External Reliability 107...112 F6.1 [m] 0
Fix Status 113...114 I2 [-] 0=no/bad fix, 1=altitude aiding,
2=altitude hold (2d), 3=3d fix
# sats used 115...117 I3 [-] # sats used in this fix
# ref stations 118...120 I3 [-] # ref stns used in this fix
sats used PRNs 121... I3*N [-] PRNs of sats used in this fix
ref station idents I3*N [-] idents of ref stns used in this fix
End Character A1 [-] ]
CRLF A2

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4.

33-4
DGPS Interfaces Manual

SeaPro DGPS
Code Name seapro
INT File DG_SEAPRO
Group DGPS

ASCII comma separated string.

On receipt of each Seapro message, this interface responds with the following string:
*,NavMode,GeogLineNum,Sequence,LineBearing,LineNameXX<CR><LF>
where:
NavMode 7 for Online/Leadin/Runout, 0 otherwise
GeogLineNum the line sequence number from the LMN
Sequence Same as GeogLineNum
LineBearing Bearing of the current line
LineName just that
XX Checksum
<CR><LF> Carriage return, Linefeed characters

Fields are zeroed during offline, i.e. offline, string sent is...
*,0,0,0,0XX<CR><LF>
IMPORTANT NOTE:- This operation is only available when the interface is running on a
PowerRTNU. On all other platforms (RTNu & RTNU), the offline string is sent at all times.

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String

*,80960.703,80960.602,1, 11, 21,20.036,W, 29, 58,47.949,N,
34.69,0,8,1,0.89,0.17,2.70,1.07,1.75,1.37,7,2,7,9,10,23,26,30,16
Description Form Field Channel
Start Char "*" 0
Acquisition Time (s) [Link] 1 DGPS_TIME
Calculation Time(s) [Link] 2 n/u
Position Status n 3 DGPS_PCALC
Longitude (Deg) nnn 4
Longitude (Min) nnn 5
Longitude (Sec) [Link] 6
Longitude (Dir) a (N or S) 7 DGPS_LON
Latitude (Deg) nnn 8
Latitude (Min) nnn 9
Latitude (Sec) [Link] 10
Latitude (Dir) a(E or W) 11 DGPS_LAT
34-4
Interfaces Manual DGPS

[n/u = not used]

Allocated Channel Numbers

See “Standardised DGPS Channel Allocation” on page 1-4.

Notes
• In this interface the Acquisition Time field is normally used for timestamping. If difference
between RTNU Time and Message Time is > 8 Secs, use RTNU Time for Timestamping.
Channel 28 (DGSP_RTNUTIME_DIFF) constantly displays this difference and if > 8 Secs
is flagged INVALID.
• The Altitude received is calculated referenced to the geoid.
• The Differential value received is used to calculate the validity of the Latitude, Longitude
and Altitude values received.
• This interface returns channel 79 of the ’Standardised DGPS Channel Allocation’ -
Custom Quality. Two criterea are used to assess whether a message is considered good
quality: Mode (field 14) must be greater than or equal to 4; Position Status (field 3) must
equal 1.

Command Line Options

Transit mode
If Transit mode (‘-transit’) is ON then the differential value is ignored and the position received is
always considered VALID.

35-4
DGPS Interfaces Manual

SOJ Format
Code Name soj
INT File DG_SOJ_GEN
Group DGPS

Meteorology, gravity, magnetic, MCS, network server, constant time recording.

Typical ASCII String:

$SOJ:-12.5,19960110,152930,W84,GP1,V,999.9,12,35-40.12435N ,123-35.12345E ,SC:HYB,G-99.9,
HYB,G359.9,V-99.9,V359.9,T:V-99.99,V-99.999,D:P,V19999.9,A:V9999.9,V999,W:V999,99.9,999,99.9,
R:V99.9,V99.9,E:V99.9999,H:V-999.9,V999999,V-99999.99, ,<CR><LF>
^^^^^^^^^^^
11 fill spaces
Total 250 characters.
Field Contents
$SOJ: String Header
-12.5 Local time offset from UTC (+/- hh.h)
19960110 UTC year/month/date (YYYYMMDD)
152930 UTC hour/minute/second (hhmmss)
W84 Datum (W84/W72/TD /NAx/LCL : NAx indicates Noth American area #x)
GP1 Positioning Sensor (HYB/GPn/LC1/LC2/DR /NG : GPn is GPS #n)
V Status (V=valid, I=Invalid)
999.9 HDOP (GPS only)
12 # of GPS SVs (GPS only)
35-40.12435N Latitude ([Link] : Q is N or S)
123-35.12345E Longitude ([Link] :Q is E or W)
SC: Speed & Course Header
HYB Speed Sensor (HYB/GPn/LC1/LC2/DS_/ADC)
G-99.9 Speed Status (G=ground, W=water, I=invalid) & vessel speed
HYB Course Sensor (HYB/GPn/LC1/LC2/DS /ADC)
G359.9 Course Status (G=ground, W=water, I=invalid) & course
V-99.9 Doppler Sonar Status (V=valid, I=Invalid) & doppler sonar speed
V359.9 Gyro Compass Status (V=valid, I=Invalid) & gyro compass heading
T: Temperature Header
V-99.99 Temperature Status (V=valid, I=Invalid) & temperature (degrees C)
V-99.999 Water Temperature Status (V=valid, I=Invalid) & temperature (degrees C)
D: Depth Header
P Depth Sensor (“P”dr/”M”nb/”A”dcp)
V19999.9 Depth Status (V=valid, I=Invalid) & depth (meters)
A: Air Pressure Header
V9999.9 Air Pressure Status (V=valid, I=Invalid) & pressure (hPa)
V999 Humidity Status (V=valid, I=Invalid) & humidity (%).
W: Wind Direction Header

36-4
Interfaces Manual DGPS

Field Contents
V999 Wind Direction Status (V=valid, I=Invalid) & relative wind direction
99.9 Relative wind speed
999 Absolute wind direction
99.9 Absolute wind speed
R: Rainfall Header
V99.9 Rainfall Status (V=valid, I=Invalid) & rainfall (mm)
V99.9 Sunlight Status (V=valid, I=Invalid) & sunlight (kw/m2)
E: Salinity Header
V99.9999 Salinity Status (V=valid, I=Invalid) & salinity (%)
H: GPS Elevation Header
V-999.9 GPS Elevation Status (V=valid, I=Invalid) & elevation
V999999 Proton Magnetometer Status (V=valid, I=Invalid) & magnetic (0.1nT)
V-99999.99 Gravity Status (V=valid, I=Invalid) & gravity (mGal)

37-4
DGPS Interfaces Manual

Channel Description Notes

125 GPS Elevation
126 Proton Magnetometer
127 Gravity

38-4
Interfaces Manual DGPS

Spectra External Shooting Mode Interface

Code Name ext
INT File DG_EXTERN
Group DGPS

Input Data Format:

There are two strings supported:
$0,ssssss
$1,ddmmyyyyhhmmss.s,[Link],X,[Link],Y,ssssss:
ssssss Shot number
ddmmyyyyhhmmss.s Date and time of the following data
[Link] Latitude in degrees and decimal minutes of the master vessel.
[Link] Longitude in degrees and decimal minutes of the master vessel.
X Latitude compass point either N or S
Y Longitude compass point either E or W

Only one string will be output depending on the configuration. If the $0 string is used, the string
will be sent once, approximately 1.3 seconds before the shot fires. The shot number field will
contain the shot number about to fire. If the $1 string is selected, it will be sent approximately
every second. However, the shot number field will contain the shot number just fired.

Channel Allocation:
Refer to “Standardised DGPS Channel Allocation” on page 1-4

39-4
Syntron BATES
Code Name batesvs
INT File DG_BATES
Group DGPS

A typical data packet is as follows:

data size(bytes)
byte count (total packet size) 2
command (default to Oxbeef) 2
time (UTC secs since GPS epoch) 8
lat (radians) 8
long (radians) 8
altitude (metres) 8
depth (metres) 8
status 4
CCITT-16 bit CRC 2
Total Packet Size 50

Allocated Channel Numbers

Channel Description Notes
1 Time Time of [Link] time is seconds since GPSepoch but is
synched to UTC, NOT GPS
2 Latitude Lat of pinger position (degs)
3 Longitude Lon of pinger position (degs)
4 -ve Latitude -Lat of pinger position (degs)
5 -ve Longitude -Lon of pinger position (degs)
6 Depth Depth of pinger position. NEVER move the Depth channel from
channel 6. It is fixed in CCN.
7 Altitude Altitude of pinger position
8 Status Defaults to zero
9 Gyro Value This is always 0.0.
Interfaces Manual DGPS

Terramatics Inertial Navigation System (INS)

Code Name ins
INT File DG_INS
Group DGPS

Timestamp From data string if time is OK

If time difference greater than 8 seconds from RTNU timestamp, use
RTNU timestamp
Reference UTC (GPS converted to UTC internally by interface)
Interface Type Serial RS232
Data Type ASCII

Expected Input
The message format is a NMEA ASCII sentence, terminated by a CRLF as follows:
$INS,time,lat,long,north velocity, east velocity,roll,pitch,heading<CR><LF>
Field Units Description
$INS NMEA Message Identifier
time Decimal seconds GPS Seconds into the week
lat (Decimal Degrees) Signed latitude
lon (Decimal Degrees) Signed longitude
north velocity (m/s)
east velocity (m/s)
roll (degrees)
pitch (degrees)
heading (degrees)
<CR><LF> Message Terminator

41-4
Interface Options
UTC to GPS Offset
The Terramatics system outputs the time referenced to GPS time. The interface then applies a
UTC to GPS difference to convert the time to UTC reference. The RTNµ is capable of
determining this value from the internal GPS receiver, so the interface on the RTNµ will
always compute the correct time. The RTNU, however, is currently unable to determine this
value automatically so a user selectable option is available to input the current UTC to GPS
difference. As GPS time is always ahead of UTC time, this should be a positive integer. To
select the offset, select the interface in the RTCN Interface Editor, select Update from the
Options menu, click on the Configuration tab and select the UTC to GPS Offset checkbox. If
left unchecked, the interface defaults to an offset of 13.0 seconds.
Interfaces Manual DGPS

Trimble 4000 Binary Position

Code Name tr4bp
INT File DG_TRIMBLE_BIN_POS
Group DGPS

The BINPOS binary data block is fixed length [234 Bytes] and will always have a preamble of
eight [00000011] Bytes. The following data is decoded from the Trimble 4000 (PRINT BINPOS)
String:

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4.

Notes:
If New Fix Flag is 0, Channels 2, 3 & 4 will be passed back as Invalid.
Time of Position Fix is passed back as GPS seconds. This is defined as the total seconds
calculated from 2400 hours on Jan 5th 1980.
PDOP - Position Dilution of Precision. PDOP is related to horizontal and vertical DOP by PDOP2 =
HDOP2 + VDOP2
HDOP - Horizontal Dilution of Precision.
VDOP - Vertical Dilution of Precision.
TDOP - Time Dilution of Precision.

Interface Options
The TRIMBLE BIN POS system outputs the time referenced to GPS time. The interface then
applies a UTC to GPS difference to convert the time to UTC reference. The RTNµ is capable of
determining this value from the internal GPS receiver, so the interface on the RTNµ will always
compute the correct time. The RTNU, however, is currently unable to determine this value
automatically so a user selectable option is available to input the current UTC to GPS difference.
As GPS time is always ahead of UTC time, this should be a positive integer. To select the offset,
select the interface in the RTCN Interface Editor, select Update from the Options menu, click on
the Configuration tab and select the UTC to GPS Offset checkbox. If left unchecked, the interface
defaults to an offset of 13.0 seconds.

43-4
Trimble 4000 DGPS DNAV AUXCOM3
Code Name aux3
INT File DG_AUXCOM3
Group DGPS

Timestamp From data string if time is OK

If time difference greater than 8 seconds from RTNU timestamp, use
RTNU timestamp
Reference UTC
Interface Type Serial RS232
Data Type ASCII

Expected input
Typical ASCII string is:
[5132022693183719.312.26N532023.66W0231022.02-0123.4180.1004.501203405.607
.812345032151023012411240135122501461326015714270168]xx<CR><LF>
Description Form Column
Start Char "[" 1
Day of Week (0-6, Sun=0) n 2
Day of Year (1-366) nnn 3
Date mmddyy (AUX3 format – default) 6
ddmmyy (QPS format – see options)
Time of Record hhmmss.s 12
Time - Time of Fix ss.s 20
Datum Flag n 24
Latitude "N"/"S"[Link] 25
Longitude "E"/"W"[Link] 35
Altitude above Ellipsoid (m) "+"/"-"nnnn.n 46
CMG over Ground (Deg TRUE) nnn.n 53
Speed over Ground (Knots) nnn.n 58
3D Position Error (m, 1-sigma) nnn 63
2D Position Error (m, 1-sigma) nnn 66
PDOP nn.n 69
HDOP nn.n 73
Operating Mode n 77
Receiver Code n 78
Receiver Dynamics n 79
Position Quality n 80
Differential Quality n 81
Time since last correction mmss 82
Number of SVs tracked n 86
Interfaces Manual DGPS

Description Form Column

SV #1 PRN nn 87
SV #1 SNR (Trimble Units) nn 89
SV #1 Range Residual Error (m) nnn 91
SV #1 Status Flag x 94
: : :
SV #m PRN nn
SV #m SNR (Trimble Units) nn
SV #m Range Residual Error (m) nnn
SV #m Status Flag x
Stop Char "]"
Checksum xx
Record Terminator CR,LF

KEY:
n = ASCII Character
x = Binary
Example:
If 5 SVs then Total Character Count = 151.

Options
Transit Mode
The AUXCOM3 interface can now be set up to work whilst in transit. In transit mode the quality
checking is relaxed. To set this mode, select the interface in the RTCN Interface window and
choose Update from the Options menu, bring the Configuration panel of the interface editor to the
front, then enable the Transit mode button.
Date Format
This interface can also handle the QPS DGPS format output string. The only difference between
the two formats is the representation of the date. The AUXCOM3 format uses the US standard,
i.e. “mmddyy”, whilst the QPS format uses the UK standard, i.e. “ddmmyy”. This interface can be
set up to decode either format. Select either QPS or AUX3 format from the Configuration panel of
the RATAN’s interface editor (as described above). If neither option is selected, the interface
defaults to the AUXCOM3 format.

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4.
102-(15 x n) n = Number of Satellites Defaults to 6 satellites

Note: In this interface, GPS Rx Time is normally used for timestamping. If the difference between
RTNU Time and GPS Rx Time is greater than 8 seconds, use the RTNU Time for timestamping.
Channel 28 constantly displays this difference, and if greater than 8 seconds is flagged INVALID.

45-4
Trimble 4000 GPS Position & Calculation
Code Name tr4pc
INT File DG_TRIMBLE_PCALC
Group DGPS

Interface Type Serial RS232

Data Type ASCII

Expected input

Format: ID DAY DOY DATE TIME

Example: [00 FRI 173 22-JUN-93 18:37:19d

LATITUDE LONGITUDE HGT PDOP CLOCK

37:23.6602N 122:02.3019W +0067 01.8 987654

[Link] [Link] HDG FREQ CONT S SVS

+000.00 000.75 045.9 -1.2740E-06 0457 3 11,6,7,2]

ID Dummy two digit field included for compatibility with earlier 4000A/S
receivers. Always sent as "00".
DAY/DOY/DATE/ Date and time at which the position fix was made. DAY is day of the
TIME week. DOY is the Julian Day Of Year, ranging from 1 to 366. DATE is in
Day-Month-Year format. TIME is in Hour-Minute-Second format. Note:
if it is not possible to do a position fix the receiver continues to print once
per cycle, although the position and the time fields do not change. If a
"clock only fix" is possible the CLOCK and FREQ OFFSET values
change.
d The character d denotes a differentially corrected GPS solution.
LATITUDE/ Results of the most recent position fix. LAT and LONG are formatted in
LONGITUDE/ degrees and decimal minutes. Height (HGT) is in meters above the
HGT WGS-84 ellipsoid.
PDOP Position Dilution of Precision associated with the most recent position.
CLOCK This is the receivers "clock offset" which indicates how far the receivers
internal clock is from the calculated GPS system clock. The units are
nano-seconds, and are in the range 0 to +999999. There is no "correct"
value and the number should drift from measurement to measurement at
a rate dependent on the accuracy of the receivers master oscillator. The
value is only given modulo one millisecond.
[Link]/[Link]/ Vertical velocity, Horizontal velocity and surface heading. The velocities
HDG are in knots and the heading is in degrees relative to TRUE North.
Interfaces Manual DGPS

FREQ OFFSET The calculated relative ERROR in the receivers oscillator. 10000E-6 im-
plies that the receiver's clock is one part per million low.
CONV S SVS Provide information regarding the type of position fix and what satellites
were used and how much smoothing has been done.
CONT Indicates minimum number of cycles that have been made without loss
of lock.
S Position FIX type.
SVS PRNs of satellites used.

WARNING: If the number of satellites is greater than 6 then the CONT and fix-type fields
will be suppressed to allow room for the satellite numbers.

Options
Enabling the pcalc d mode checkbox on the Configuration Tab of the RTCN’s Interface Editor,
overrides the normal pcalc mechanism and sets PCALC to 2 if the d (differential) character is
present in the string and 1 otherwise.

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4
102-(15 x n) n = Number of Satellites Defaults to 6 satellites

47-4
Western POSNET
Code Name wpnet16
INT File DG_WPNET16
Group DGPS

A total of 182 bytes plus the number of satellites *40 bytes are returned, from which the
following information is extracted:

Allocated Channel Numbers

Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4
Interfaces Manual ECHO

Chapter 5 - ECHO
This chapter contains details of RTNU and RTNµ serial interfaces for echo. For details of virtual
interfaces, please refer to Chapter 21 -“VIRTUAL INTERFACES” on page 1-21.

* These extra depth channels are for equipment that outputs messages with multiple depths, e.g.
Simrad EA500. They are also used for interfaces that need a single depth to be output in
different units, e.g. Depth 1 = depth in metres, Depth 2 = depth in 0.1 metres, Depth 3 = depth in
feet, etc.
** x = 1000 metres

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ECHO Interfaces Manual

ATLAS DESO 25 Echosounder

Code Name adeso
adesom (RTNU only)
INT File EC_ATLAS_DESO
EC_ATLAS_DESO_M
Group ECHO

adeso is the standard echo sounder which expects one string only. adesom decodes multiple
message types.

Expected Input (ASCII)

1. [Link] m<CR><LF>
2. [Link]<CR><LF>
3. BCxx<CR><LF>

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

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Interfaces Manual ECHO

ATLAS DESO 15 Echosounder

Code Name deso15
INT File EC_ATLAS_DESO15
Group ECHO

This interface is almost identical to the ’ATLAS DESO 25 Echosounder’. The only difference is
the addition of the asterisk character at the end of the string.

Expected Input (ASCII)

1. [Link] m<CR><LF>
2. [Link]<CR><LF>
3. BCxx<CR><LF>*

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

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ECHO Interfaces Manual

Black Box Depth Repeater

Code Name bbecho
INT File EC_BLACK_BOX_ECHO
Group ECHO

The Black Box Digital-to-Serial converter output has the following format:
FFFFFFFFDDDD<CR><LF>
where:
FFFFFFFFF = Eight characters 'N'
DDDD = Depth in metres
e.g. FFFFFFFF0190<CR><LF> reads 190 metres.
This interface apparently needs to be triggered with Ctrl Q character (17 decimal), entered as
<17> (brackets needed) in the RTCN interrogate window option. In practice, however, the black
box seems to send the data approximately twice a second once triggered.

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

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Interfaces Manual ECHO

DFS6000 Echo Sounder

Code Name dfs
INT File EC_DFS6000
Group ECHO

The DFS6000 echo sounder has the following format:

DDDDDURPFVVVTTTMGprrrID<CR><LF>
Where:
DDDDD = Depth with decimal place as needed
U = Units (1-fathoms, 2-feet, 3-metres)
R = Range
P = Phase
F = Function
VVV = Velocity of sound
TTT = Tide and draft
M = Mark indicator
G = Gate width
p = Power
rrr = Reverb blanking
ID = Unit ID number

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

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ECHO Interfaces Manual

ELAC LAZ 4700 Echosounder Output

Code Name lazecho
INT File EC_ELAC_LAZ4700
Group ECHO

Expected Input string

| H | T | O | D | d | m | LFCR
where:
H is Hundreds
T is Tens
O is Ones
D is Decimal ones

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

Note: ELAC will not function in water depth greater than approximately 400 m.

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Interfaces Manual ECHO

FURUNO Echosounder
Code Name fech
INT File ECHO_FURUNO
Group ECHO

Expected Input string

ASCII NMEA serial message terminated by CRLF.

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

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ECHO Interfaces Manual

Innerspace 449 Fathometer Output String

Code Name insp449
INT File EC_INNERSPACE_449
Group ECHO

Typical ASCII string

Byte Value
0 STX (optional)
1-4 Depth in centimetres
5 <CR> or <LF>

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

The interface assumes the depth units are in meters, however, if the text “Feet” is entered into the
TxID of channel 1 via the RTCN, the interface assumes the units are in feet. Either way, the units
of depth are always returned as meters.
The input string may or may not begin with the <STX> character: either case is handled. The
string may end with either a <CR> or an <LF>.

Options
It is possible for some echo sounders to output the data in feet instead of centimetres. If this is the
case, you can force the interface to assume the units of the incoming data are in feet and convert
to metres. To do this, select the interface in the RTCN Interface Editor, select Update from the
Options menu, click on the Configuration tab and select the Feet box.

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Interfaces Manual ECHO

Innerspace Technology Echosounder

Code Name it_x01_
itx10_
INT File EC_INNERSPACE_SHALLOW_ECHO
EC_INNERSPACE_DEEP_ECHO
Group ECHO

These interfaces are for the Innerspace Technology Thermal Depth Sounder Recorder Model
449. Two different interfaces exist for this echo sounder: x1 scale (code: it_x01_; .int file:
IT_ECHO_SHALLOW) and x10 scale (code: it_x10_; .int file: IT_ECHO_DEEP).

Expected Input
STX | A | H | T | O or D | B | <CR> |
STX Start of Data String
A Thousands
H Hundreds
T Tens
O or D Ones (x10 mode)
Decimal (x1 mode)
B Bad Character

Each character is standard ASCII format.

The decimal point is assumed, and can shift one place to the left if the optional centimetres output
mode is used. The following table shows the significance of the bad data flag for various modes
of operation.
MODE FLAG
BLACK dm GOOD data 0
BLACK dm BAD data 1
BLACK dm GOOD data 2
BLACK dm BAD data 3
GREY dm GOOD data 4
GREY dm BAD data 5
GREY dm GOOD data 6
GREY dm BAD data 7

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

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ECHO Interfaces Manual

Innerspace Technology Thermal Depth Sounder Recorder

Model 449
Code Name itdepth
INT File EC_INNERSPACE
Group ECHO

Expected Input
| STX | 100s | 10s | 1s | .1s | Bad data char | <CR> |
Each character is standard ASCII format.
The decimal point is assumed, and can shift one place to the left if the optional centimetres output
mode is used.
The following table shows the significance of the bad data flag for various modes of operation.
MODE FLAG
BLACK dm GOOD data 0
BLACK dm BAD data 1
BLACK dm GOOD data 2
BLACK dm BAD data 3
GREY dm GOOD data 4
GREY dm BAD data 5
GREY dm GOOD data 6
GREY dm BAD data 7

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

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Interfaces Manual ECHO

KAIJO ECHOSOUNDER string

Code Name kaijo
INT File EC_KAIJO
Group ECHO

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String

0 1 2
123456789012345678901

:0A2064000001960402D5
Description Form Field
Start Chars “:0A” 0
Depth Value (cm) NNNNN 11-15

Allocated Channel Numbers

Channel Number Description Notes
1 Depth(m)

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ECHO Interfaces Manual

Krupp Atlas Elektronik Hydrosweep

Code Name kaeh
INT File EC_KAEL
Group ECHO

Expected Input string

Typical ASCII string is as follows:
ERGNMESS<cr><lf> -79.9477386 +32.852027819010308221440 65 6237.2 +0
+.0B+1.60001 19.3 .10 1<cr><lf>29 5 10 16 21 27 32 36 41 49 55 61 69 74 78 83
89 106 115 119 127 136 140 143 149 172 180 185 190 201<cr><lf>29 193 194 201 202 199
196 188 187 197 199 200 206 202 198 193 193 214 217 212 212 213 207 200 197 214 213 207
201 202<cr><lf>29 5 10 15 21 26 32 37 44 50 55 60 66 73 79 84 101 106 114 122
129 133 137 145 169 192 199 205 209 0<cr><lf>29 187 191 193 194 196 196 198 202 201
201 198 198 199 199 196 219 215 216 216 216 209 203 203 0 239 235 229 222 0<cr><lf>
The string above shows the depth reading in bold (19.3).
Default Communication Parameters
9600, E, 7, 1.

Allocated Channel Numbers

Channel Description Notes
1 Depth
2 N/A
3 N/A
4 N/A
5 N/A
6 N/A

12-5
Interfaces Manual ECHO

Marimatech 103 Deso 25 output string

Code Name marim103
INT File EC_MARIM103
Group ECHO

Typical string is as follows:

[Link] m<CR><LF>
Byte Value
0-1 DA
2-9 Depth in metres #####.##
10 <space>
11 m
12 CR
13 LF

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

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ECHO Interfaces Manual

NMEA SDDBT String

Code Name nmsddb
INT File EC_NMEA_SDDBT
Group ECHO

Expected Input string

Typical ASCII string is as follows:
$SDDBT,aaaa.a,f,bbbb.b,M,cccc.c,F
e.g.
$SDDBT,0024.0,f,0007.3,M,004.0,F
$SDDBS,0024.0,f,0007.3,M,004.0,F
$SDDBF,0024.0,f,0007.3,M,004.0,F
where:
aaaa.a depth in feet
f feet flag
bbbb.b depth in metres
M metres flag
ccc.c depth in fathoms
F fathoms flag

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

14-5
Interfaces Manual ECHO

ODOM Hydrographic DF3200 Echosounder

Code Name df32
INT File EC_DF3200
Group ECHO

Several outputs are available from the DF3200:

1. Single Bottom Tracking length 11 chars
2. Dual Bottom Tracking (single frequency active) 12 chars
3. Dual Bottom Tracking (dual frequency active) 18 chars
Note: In dual frequency modes it is possible to enable HEAVE to be output. In this case an
additional 5 characters will be added to the output messages containing heave information.

Expected Input string

Single bottom tracking output:

<sp>et<sp><sp><sp>1373<CR> Normal sounding, 13.73MT

<sp>ET<sp><sp><sp><sp>137<CR> Normal sounding, 13.7MT

Char # Description
1 Normally space 'F' indicates fix mark
2 'E' decimetre resolution 'e' centimetre
3 'T' decimetre resolution 't' centimetre
4 Normally space 'E' indicates error
5 Always s pace
6-10 Depth data
11 Carriage Return

Dual frequency tracking output (single frequency active):

<sp>ET<sp>H<sp><sp><sp>259<CR> 12 chars

Char # Description
1 Normally space 'F' indicates fix mark
2 'E' decimetre resolution 'e' centimetre
3 'T' decimetre resolution 't' centimetre
4 Normally Space.
'E' indicates High Frequency ERROR;
'O' indicates Low Frequency ERROR.
5 Frequency indicator 'H' High 'L' Low
6 Always s pace
7-11 Depth data
12 Carriage Return.

Dual frequency tracking output (dual frequency active):

<sp>ET<sp>B<sp><sp><sp>259<sp><sp><sp>193<CR> 18 chars

Char # Description
1 Normally space 'F' indicates fix mark
15-5
ECHO Interfaces Manual

2 'E' decimetre resolution 'e' centimetre

3 'T' decimetre resolution 't' centimetre
4 Normally Space.
'E' indicates High Frequency ERROR;
'O' indicates Low Frequency ERROR.
'D' indicates both high and low freq error.
5 Frequency indicator 'H' High 'L' Low
6 Always s pace
7-11 Depth data (high freq)
12 Always space
13-17 Depth data (low freq)
18 Carriage Return

Note: The DF3200 normally outputs data several times per second, thus this interface should
have its mode set to passive periodic (say every 1000 ms).

16-5
Interfaces Manual ECHO

SIMRAD EA200 Echosounder & 6 byte format (..B6)

Code Name ea2
ea2b6
INT File EC_EA200
EC_EA200_B6
Group ECHO

The Simrad EA200 echo sounder output has two possible formats, 7 byte and 6 byte:
7 Byte Format:
DAAAA.A
D = ASCII string start character
AAAA.A = Depth in the range.1 - 9999.9 meters
6 Byte Format:
DAAAAA
D = ASCII string start character
AAAAA = Depth in decimetres. Implied decimal point.

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

17-5
ECHO Interfaces Manual

SIMRAD EA200 PIU Echosounder

Code Name ea2
INT File EC_EA200_PIU
Group ECHO

The EA200 outputs its depth information through its parallel port to a Parallel Interface Unit which
performs the conversion to serial data. The four byte data is as follows:
Byte
1 Lost Bottom Bit n 0 0 0 0 0 0 0 LB
2 Thousands BCD 0 0 0 0 8000 4000 2000 1000
3 Hundreds and tens BCD 800 400 200 100 80 40 20 10
4 Digit and Decimal BCD 8 4 2 1 .8 .4 .2 .1

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

18-5
Interfaces Manual ECHO

SIMRAD EA300P Echosounder

Code Name ea3
INT File EC_EA300
Group ECHO

The Simrad EA300 echo sounder output has the following format:
AAAA.A<CR><LF>
AAAA.A = Depth in the range.1 - 9999.9 metres with leading spaces.
Or, with hardware detector and depths below 100 m:
<SP>[Link]<CR><LF>

Allocated Channel Numbers

Channel Description Notes
1 Depth 1
2 Depth 2
3 Depth 3
4 Depth 4
5 Mode
6 Quality

19-5
ECHO Interfaces Manual

SIMRAD EA500 Echosounder

Code Name ea5
ea5a
ea5m
INT File EC_EA500
EC_EA500A
EC_EA500M
Group ECHO

ea5 decodes single transducer

ea5a decodes single transducer asterisk terminated
ea5m decodes multiple transducers

The Simrad EA500 echo sounder output has the following format:
D#,TTTTTTTT,[Link],BBB,CCC,DDD<CR><CR><LF>
[Link] Depth in the range .1 - 999.99 metres with leading spaces
D# Transceiver number
TTTTTTTT Timetag
BBB Bottom surface backscattering strength
CCC Transducer number
DDD Athwartship bottom slope

Allocated Channel Numbers

D1 Depth returned in channel 1 (meters)
D2 Depth returned in channel 2 (meters)
D3 Depth returned in channel 3 (meters)

Options
It is possible to have the interface convert the units from metres to feet. To do this, select the
interface in the RTCN Interface Editor, select Update from the Options menu, click on the
Configuration tab and select the Return Depth in Feet checkbox.

20-5
Interfaces Manual GENERAL

Chapter 6 - GENERAL
This chapter contains details of RTNU and RTNµ general serial interfaces.

Air Pressure Sensor Interface

Code Name airpress
INT File XX_AIRPRESSURE
Group GENERAL

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop Bit 1

Typical ASCII String

+[Link] mbar A OK<CR><LF>
and
+[Link] mbar A<CR><LF>
Description Form Field
Start Chars “+” 0
Pressure (millibars) [Link] 2
<CR><LF>

Allocated Channel Numbers

Channel Description Notes
1 PRESSURE [Link]
2 Status Binary 1 or 0 depending on the presence of the “OK”
characters in the data message.

1-6
GENERAL Interfaces Manual

Bell Aerospace Gravity Meter BGM3 Format

Code Name bgm
INT File XX_BELL_GRAVITY_METER
Group GENERAL

Format
Typical ASCII String as follows:
pp:dddddd ss<CR><LF>
where:
pp Counting Interval, 01 or 10 (1 or 10 seconds)
dddddd Count, typically 025000
ss Status,
00 No DNV Error
01 Platform DNV
02 Sensor DNV
03 Both DNVs

Allocated Channel Numbers

Channel Description Notes
1 Count
2 Count Interval 1 or 10 seconds
3 Status 0,1,2, or 3 defined as above.

Channel 1 will be Flagged Invalid if Status is not 00.

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Interfaces Manual GENERAL

Digicon - Multi Vessel Block Interface

Code Name digmvb
INT File XX_DIGICON_MULTI_VESSEL
Group GENERAL

The expected format is as described in the document "Spectra - Digicon Interfacing

Requirements", currently Issue 1.

Digicon RDL Multi Vessel Block

This Binary data string is compiled by the Digicon RDL (Radio Data Link) computer from data
received locally and by telemetry from other vessels. This string will be sent to Spectra RTNU on
the same physical link as RDL Fast Request Interrogation String. Message Type field will identify
string which, if valid, will be treated as a full RTNU sensor input.
Format
Description Index Size Type Comment
Sync Characters 4 ASCII Always = "SYNC"
Bytecount 2 int
Message Type 0 2 int Always = 4
Section 1 ID 2 2 int Always = 1
Size of Section 4 2 int 6 + (Vessel Block Total * No. Vessel Blocks)
No. of Vessel Blocks 6 2 int 5 max
Vessel Block 1 8
Vessel Block 2
Vessel Block n
Checksum 1 char LS Byte of Checksum

Vessel Block Format: [42 + (Num Streamer Blocks * Streamer Block Total)]
Line Name 8 ASCII [NULL Terminated]
Vessel Lat 4 real
Vessel Lon 4 real
Vessel Gyro 4 real
Vessel Depth 4 real
Shooting Vessel Number 1 byte
Shot Source Number 1 byte
Shot Number 4 long
Shot Time [Nav Clock Prime]: 2 int
- Day 2 int
- Hour 2 int
- Minute 2 int
- Second 2 int

Number of Utility Blocks 2 int

Utility Blocks 4 real (invalid -98765)

3-6
GENERAL Interfaces Manual

Description Index Size Type Comment

Number of Source Blocks 2 int

Source Block Format:

Source Lat 4 real
Source Lon 4 real
No of Streamer Blocks 2 int 3 max

Streamer Block 1
Streamer Block 2

Streamer Block Format: [22 + (Number of Compasses * 4)]

Streamer Head Lat 4 real
Streamer Head Lon 4 real
Streamer Head CMG 4 real

Tailbuoy Lat 4 real

Tailbuoy Lon 4 real
Number of Compasses 2 int

Compass Block: [Number of compasses * 4]

Compass 1 Heading 4 real [Link]
Compass 2 Heading 4 real

Source Number defined 1 to 4.

Vessel Numbers defined 1 to 5.

4-6
Interfaces Manual GENERAL

Es1 + 1 Streamer 2 Head Lat dd.d

Es1 + 2 Streamer 2 Head Lon dd.d
Es1 + 3 Streamer 2 CMG dd.d
Es1 + 4 Tailbuoy 2 Lat dd.d
Es1 + 5 Tailbuoy 2 Lon dd.d
Es1 + 6 Number of Compasses [Nc] Compasses
Es1 + 7 Compass 1 Heading dd.d
:
[Es2] End of Streamer 2
:
[Es] End of Streamers
[Ev1] End of Vessel Block #1
Ev1 + 1 Vessel 2 Lat dd.d Vessel Block #2
Ev1 + 2 Vessel 2 Lon dd.d
:
[Ev2]

Maximum of 5 Vessel Blocks possible.

Channel numbers will be fixed for a particular survey configuration.

5-6
GENERAL Interfaces Manual

Digicon NIC Output

Code Name dnic
INT File XX_DIGICON_NIC
Group GENERAL

Format
ASCII String with SPACE delimiters between fields, the whole string is delimited by parenthesis:

(%f %f %f %d %d %d %d %f)
a b c d e f g h

where:
a Local Latitude
b Local Longitude
c Gyro
d Julian Day
e Hour
f Minute
g Second
h Shot Number

Allocated Channel Numbers

Channel Description Notes
1 Time dddhhmmss
2 Latitude degrees, dec degrees
3 Longitude degrees, dec degrees
4 Gyro degrees, dec degrees
5 Shot Number

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Interfaces Manual GENERAL

Digiquartz Pressure / Depth Interface

Code Name digi
INT File XX_DIGIQUARTZ
Group GENERAL

Format
*[Link]
where
* = Start character
*[Link] = Pressure in PSI

e.g. *000114.579

Allocated Channel Numbers

Channel Description Notes
1 Pressure PSI. Raw pressure as returned by
the sensor.
2 Depth Metres. Depth as calculated by
the interface.

Options
There are three configuration options (defaults given in brackets) available via the Configuration
tab of the RTCN’s Interface Editor:
Gravity (9.780318)
Reference Pressure (14.67782)
Relative Density (1.0)
These are used in the following equation to calculate the depth from the given pressure in PSI:
depth (m) = (6.89476 * (pressure - ReferencePressure)) / (Gravity * RelativeDensity)

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GENERAL Interfaces Manual

Fugro Gravity
Code Name gravity
INT File XX_FUGRO_GRAVITY
Group GENERAL

This interface is for use in conjunction with Fugro-LCT Gravity Meter and Magnetometer
equipment.

Comms Parameters:
Baud 9600
Data Bits 8
Stop Bits 1
Parity None

Typical ASCII String

Description Form Field

Time hh:mm:ss 21-38
Line ID SSSSSSSSSS 0-9
ZLS Time (Internal time) 12-28
Gravity (CU) 30-36
Spring Tension 37-44
Cross-coupling correction (CU) 45-52
Beam Position Signal (mV) 53-59
VCC 60-66
AL 67-73
AX 74-80
VE 81-87
AX2 88-94
XACC2 95-101
YACC2 102-108
XACC 109-115
YACC 116-122

Notes

Line ID Line name entered by operator

ZLS time Internal time of gravity meter

8-6
Interfaces Manual GENERAL

Gravity ‘Meter Gravity’ computed by the gravity meter (raw gravity, in

counter units (CU). TO convert to mGals multiply by a scale
factor.
ST Gravity meter spring tension, CU.
CC Cross-coupling correction, CU.
Beam Beam position signal, mV
VCC, AL, AX, VE, AX2 Cross-coupling monitors, used in processing by Fugro-LCT.
XACC, YACC, XACC2, YACC2 Direct and squared outputs of horizontal accelerometers (mV,
mV^2).

9-6
GENERAL Interfaces Manual

Fugro Magnet
Code Name magnet
INT File XX_FUGRO_MAGNET
Group GENERAL

This interface is for use in conjunction with Fugro-LCT Gravity Meter and Magnetometer
equipment.

Comms Parameters:
Baud 9600
Data Bits 8
Stop Bits 1
Parity None

Typical ASCII String

1
01234567890
43287

Description Form Field

Magnetism (nT) XXXXX 0-4

Notes
There is no time field in the actual message string and so the calculated time is obtained from the
RTNU timestamp.

Allocated Channel Numbers

Channel Description Notes
1 RTNU Time
2 Magnetism (nT)

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Interfaces Manual GENERAL

Geometrics G801 Magnetometer

Code Name g801
INT File XX_G801MAG
Group GENERAL

Magnetism output from the Geometrics G801 magnetometer.

Comms Parameters
Baud 9600
Data Bits 8
Stop Bits 1
Parity None

Typical ASCII String

[Link]<CR><LF>
Example
EGG801M123456.250000<CR><LF>
EGG801S453345.500000<CR><LF>
Description Form Field
String Identifier "EGG801" 1–6
Data Identifier “M” = Master 7–7
“S” = Slave
Magnetic Field Strength in nanoTesla [Link] 8 - 19
CRLF AA 20- 21

Allocated Channel Numbers

Channel Description Notes
1 Magnetism

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GENERAL Interfaces Manual

Horizon Shot Header

Code Name horzhd
INT File XX_HORIZON_SHOT_HEADER
Group GENERAL

The data is transmitted using the following communication parameters:

19,200 Baud
8 Data Bits
1 Stop Bit
No Parity

ASCII String start

":1INSS1" and ":1INSD1".

Format Description
Shot Header
Pos Name Format Description
1 Ident A7 Fixed ":1INSS1"
9 shot A7 Shot Number
17 dc F9.3 Distance Cross Line, km, +ve stbd
27 da F9.3 Distance Along Line, km
37 de F9.3 Distance to EOL, km
47 vc F6.1 Velocity Cross Line, knots, +ve stbd
54 sb F6.2 Bottom Speed, knots
61 gy F5.1 Gyro, degrees
67 dcse F5.1 Line Azimuth, degrees
73 shot I6 Shot Number
80 dpth F6.1 Depth, metres
87 N/A I6 0 - not used
93 N/A A Blank - not used
95 Linename A16 Survey line name
112 day I3 Julian day
116 time HH:MM:SS Time
125 lat DD:MM:SSSn Latitude
139 lon DDD:MM:SSSn Longitude
153 cmg F5.1 Course Made Good
158 CR A1 0x0D For termination

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Interfaces Manual GENERAL

Second Header
Pos Name Format Description
1 Ident A7 Fixed ":1INSD1"
9 shot A7 Shot Number
17 dc F9.3 Distance Cross Line, km, +ve stbd
27 da F9.3 Distance Along Line, km
37 de F9.3 Distance to EOL, km
47 vc F6.1 Velocity Cross Line, knots, +ve stbd.
54 sb F6.2 Bottom Speed, knots
61 gy F5.1 Gyro, degrees
67 dcse F5.1 Line Azimuth, degrees
73 shot I6 Shot Number
80 dpth F6.1 Depth, metres
87 N/A I6 0 - not used
93 N/A A Blank - not used
95 Linename A16 Survey line name
112 day I3 Julian day
116 time HH: MM: SS Time
125 lat DD:MM:SSSn Latitude
139 lon DDD:MM:SSSn Longitude
153 cmg F5.1 Course Made Good
158 CR A1 0x0D For termination

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GENERAL Interfaces Manual

HYDRONAV Navigation Header Processing Interface

Code Name hydronav
INT File XX_HYDRONAV_OBC_HEADER
Group GENERAL

Message is ASCII with a start sequence of “@@@UHEAD” and a termination sequence of

“*<CR><LF>”. Fields are fixed length, comma separated and left/right space filled as suits them.
Version 3 Header Format
Description Form Column
Header Id “@@@UHEAD” 1-8
Time A10 format HH:MM:SS.T 9 - 18
GPS Clock Ind I1 in an A2 field “ n”, n E (0, 1, 2, 3) 19
Comma separation starts here
Line Name A8
Station Number I7 shot number
Station Number I10 shot number (again)
Northings F11.2 1234567.89N
Eastings F11.2 1234567.89E
Vessel Speed F6.2 5.52KT
Bearing F6.2 259.59DG
Water Depth F5.1 9.2M
Date A10 MM/DD/YYYY (probably)
Distance Offline I5 -40M
Distance Inline I8 -250M
GPS Height F5.1 $$$M (in the data provided)
Vessel ID A15
End Marker “*”
Termination Characters <CR><LF>

14-6
Interfaces Manual GENERAL

Input/Output Image System - Shot Message String

Code Name image
INT File XX_IMAGE
Group GENERAL

Comms Parameters
Baud 19200
Parity None
Data Bits 8
Stop 1

Example Binary String is as follows:

525300070002000101010300
5253001B0001000101080000000A000004103AE72504000000010000011FF4
525300070002000101010300
525300070002000101010300
525300070002000101010300
525300070002000101010300
Note the CRLFs are included for ease of viewing. There are 2 main output strings in this
interface: the shorter type 0001 messages and the longer type 0002 messages. This interface is
only interested in the longer type 0001 message, other messages starting ‘5253’ will be ignored.
Type 0002 message description:
Bytes Description
0-1 start of message chars (ascii RS)
2-3 number of bytes to follow
4-5 message ID
6-7 version ID
8 shot coordinate type - always binary 01
9 shot coordinate size - always binary 08
10-13 Shot line number, this field has 1 implied decimal place
14-17 Shot station number, also has 1 Implied decimal place
18-21 Shot ID number, a timestamp, number of seconds from 1/1/1970 00:00:00 am
22-25 Sequence number, shot number within the stack, always 1
26-29 Tape File Number
30 Check sum

Allocated Channel Numbers

Channel Description
1 Line Number
2 Shot Station Number
3 Shot Time
4 Sequence Number
5 Tape File Num

15-6
GENERAL Interfaces Manual

KSS31
Code Name kss31
INT File XX_KSS31
Group GENERAL

This interface decodes the message string received from the KSS31 gravity meter. In addition,
the interface transmits a message containing navigation data to the KSS31. Note that this output
message is only available when using a RTNµ, PowerRTNU or via the VIPSER virtual interface.
For details of how to run the virtual form of this interface from the command line, please refer to
“VIPSER Node” on page 14-21.

Comms Parameters
Baud 9600
Data Bits 8
Stop Bits 1
Parity None

Typical ASCII String From KSS31 to SPECTRA

01 167 1319 20C 3 -3020.91 -0.1234 -0.0237 -1123.1 -0007.1 0012.5<CR><LF>
There may be one or more spaces between each item above.
Description Form Field
Time YY DDD HHMM SS 1
Terminated with a “C” character
Seastate Integer (eg 3) 2
Gravity eg -3020.91 (units mGal) 3
X acceleration -0.1234 (ms-2) 4
Y acceleration -0.0237 (ms-2) 5
EOETVOES corrected gravity eg -1123.1 (mGal) 6
FREE-AIR Anomaly eg -0007.1 (mGal) 7
Bouguer Anomaly eg 0012.5 (mGal) 8
End of record <CR><LF> 9

Allocated Channel Numbers

Channel Description Notes
1 Time YY DDD HHMM SS (spaces= 0 or more blanks)
2 Seastate Integer (e.g. 3)
3 Gravity e.g. -3020.91 (units mGal)
4 X acceleration e.g. -0.1234 (ms-2)
5 Y acceleration e.g. -0.0237 (ms-2)
6 EOETVOES corrected gravity e.g. -1123.1 (mGal) See Note 3 below
7 FREE-AIR Anomaly e.g. -0007.1 (mGal) See Note 1 below
8 Bouguer Anomaly e.g. 0012.5 (mGal) See Note 2 below

16-6
Interfaces Manual GENERAL

Units
1 Gal = 1 cm s-2 = 1000 mGal
i.e. 1 mGal = 10-5 ms-2
Notes
1. Free-Air Anomaly (2 defns)
• The free-air gravity field is the gravity field after the free-air correction (free-air anomaly) .
This correction is applied to observed or "raw " gravity readings to correct for the change
in gravity due to the difference in elevation of the gravity station relative to datum elevation
(usually sea level). The change in gravity with elevation is inversely related to the change
in distance between the meter's centre of mass (metre elevation) and the earth's centre of
mass.
• To correct for the effect of topography, the vertical gradient of gravity (vertical rate of
change of the force of gravity, 0.3086 mGal/m) is multiplied by the elevation of the station
and the result subtracted from the latitude-corrected value producing the free-air anomaly.

2. Bouguer Anomaly (2 defns)

• The gravitational attraction of the slab of material between the observation point and
mean sea level must be accounted for to reduce gravity to the effect of lateral density var-
iations. This is the Bouguer gravity anomaly.
• The remaining value of gravitational attraction after accounting for the theoretical gravita-
tional attraction at the point of measurement, latitude, elevation, the Bouguer correction
and the free-air correction (which compensates for height above sea level assuming there
is only air between the measurement station and sea level). This anomaly is named for
Pierre Bouguer, a French mathematician (1698 to 1758) who demonstrated that gravita-
tional attraction decreases with altitude.

3. Eoetvoes Corrected Gravity

• The deviation of the Earth's surface from a sphere produces components of the gravity
force in the horizontal plane. This value is the gravity corrected by subtraction of the hori-
zontal components.

Options
You can specify the output frequency of the navigation message output string via the
Configuration Panel of the RTCN Interface Editor. (From the RTCN main window, select
Options|Virtual Interfaces. From the Virtual Interfaces window, highlight the interface name then
select Options|Update to bring up the Interface Editor and click on the Configuration button.) Use
the Output Frequency menu to choose either Ref to Shot or Each Second to tell the KSS31
interface how often to produce the string on the serial port. In the former output frequency mode,
the interface must be in Ref to Shot mode while the latter requires the serial version to be in
Passive Periodic or Interrogate Periodic mode.

Typical ASCII String From SPECTRA to KSS31

83 26 2359 48 T-23 57.785N T112 17.999E 1345 7985 137.95 139.01 12.6 13.1 23750<CR>LF>
Description Form Field
Year 00-99 1
Day Numer 000-999 2
Time Hours and Minutes HHMM 3
Time Seconds 00-59 4
Latitude/Longitude Identifier T 5
17-6
Description Form Field
Latitude Degrees SLL (S=+/-, LL=00-99)
Latitude Minutes [Link]
Direction N or S
Latitude/Longitude Identifier T 6
Longitude Degrees LLL (LLL=000-359)
Longitude Minutes [Link]
Direction W or E
Shot Number 0000-9999 7
File Number 0000-9999 8
Heading 000.00-359.99 9
Course 000.00-359.99 10
Speed 00.0-99.9 11
Velocity 00.0-99.9 12
Depth 0000-9999 13
Trigger (shot point) “0” (zero) 14
End of record <0D><0A> 15
Interfaces Manual GENERAL

NMEA_ANY
Code Name nmea_any
INT File XX_NMEA_ANY
Group GENERAL

This interface can be used to parse any NMEA type sentence. NMEA sentences begin with ‘$’,
have comma separated fields and are terminated with <CR><LF>.
Each data field is placed is a separate raw item channel.

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String

$NMEACMD,data1,data2,...dataN*<checksum><CR><LF>
e.g. $NMEACMD,1,2,3*55
Description Form Field
Start Chars "NMEACMD" 0
Data1 Data field 1 1
Data2 Data field 2 2
DataN Data field N N
CRC N+1
CRLF AA N+2

19-6
14 Field #13 13th data field
15 Field #14 14th data field
16 Field #15 15th data field

Options
To filter out unwanted strings when multiple NMEA sentences are present, type the name of
the required NMEA sentence (e.g. “$GNGGA”) into the Filter field on the Configuration tab of
the RTCN Interface Editor.
Interfaces Manual GENERAL

RDI ADCP Interface

Code Name rdi
INT File XX_RDI
Group GENERAL

This interface decodes data from the RDI ADCP Profiler. At present, the following data is
returned:
Channel Contents
1 REAL_OR_SIM_FLAG
2 NUM_BEAMS
3 NUM_CELLS
4 NUM_PINGS
5 DEPTH_LENGTH
6 BLANK_TX
7 PROFILING_MODE
8 CORR_TRESH
9 NUM_REPS
10 GOOD_MINIMUM
11 ERR_VEL_MAX
12 TPP_TIME
13 COORD_TRANS
14 HEADING_ALIGN
15 HEADING_BIAS
16 SENSOR_SRC
17 SENSOR_AVAIL
18 BIN1_DIST
19 XMIT_PULSE
20 WP_REF
21 TARGET_THRESH
22 TX_LAG
23 RTC_TIME
24 BIT_RESULT
25 SOUND_VEL
26 TRANS_DEPTH
27 HEADING
28 PITCH
29 ROLL
30 SALINITY
31 TEMPERATURE
32 MPT_TIME
33 HDG_STDEV
34 PITCH_STDEV

21-6
Channel Contents
35 ROLL_STDEV
36 NUM_VELOCITIES
37 NUM_MAGNITUDES
38 NUM_INTENSITIES

This is then followed by a group of channels for velocities, a group of channels for
magnitudes, and a group for intensities. All data is returned verbatim from the incoming data,
apart from the three timestamps (RTC, TPP and MPT), which are UNIX-like timestamps
created from the data fields supplied.
Interfaces Manual GENERAL

SeaKing Bathymetric System: Winson Processed Data String

Code Name seaking
INT File XX_SEAKING_BATH
Group GENERAL

An ASCII string containing a number of readings from the SeaKing Bathymetric System. The
main message is preceded by a synchronisation string and some header data. The information
in the header is not decoded.

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String as follows:

%D0074042700+000500000020000+0050000021356480001986497-0001040000
+005000340014750+0000024000063+000013692109453374

Description Form Field

Synchronitsation string %D 0
Slot Reply Header 10 bytes of hex data 1
Internal Temperature (10ths °C) 6 byte signed integer 2
Digiquartz pressure (100000ths PSIa) 10 byte unsigned integer 3
Digiquartz temperature (100ths °C) 6 byte signed integer 4
Raw digiquartz pressure reading 10 byte unsigned integer 5
(8MHz counts for 10000 digiquartz pulses)
Raw digiquartz temperature reading 10 byte unsigned integer 6
(8MHz counts for 40000 digiquartz pulses)
Local oscillator calibration coefficient (Hz) 6 byte signed integer 7
Conductivity (µmhos) 5 byte unsigned integer 8
Conductivity probe temperature (100ths °C) 6 byte signed integer 9
Salinity (parts per 100,000) 5 byte unsigned integer 10
Velocity of Sound (ms-1 * 10) 5 byte unsigned integer 11
Altimeter reading (mm) 11 byte signed integer 12
Bathymetric System Device Validity 3 byte unsigned integer 13
Bit 0 = 1 = Digiquartz valid
Bit 1 = 1 = Conductivity valid
Bit 2 = 1 = Altimeter valid
Bit 3 = 1 = Internal temp valid
Bit 4 = 1 = Velocity of sound valid
Bit 5 = 1 = Salinity valid
Depth (mm) 10 byte integer 14
Time at start of scan HHMMSSCC 15
CRLF AA 16

23-6
Allocated Channel Numbers
Channel Description Notes
1 Internal Temp °C
2 Digiquartz Pressure psi
3 Digiquartz Temp °C
4 Raw Digiquartz Pressure N/A
5 Raw Digiquartz Temp N/A
6 Local OCC Hz
7 Conductivity µmohs
8 Conductivity Probe Temp °C
9 Salinity ppm
10 Velocity of Sound ms-1
11 Altitude m
12 Depth m
13 Time UTC Time since 1970
Interfaces Manual GENERAL

SeaSPY data format

Code Name seaspy
INT File XX_SEASPY
Group GENERAL

This interface decodes the SeaSPY data format with the Smart receiver.

Comms Parameters
Baud 9600
Parity None
Data Bits 7
Stop 1

Typical ASCII String as follows:

1 2 3 4 5 6 7
123456789012345678901234567890123456789012345678901234567890123456789012345
*[Link]/HH:MM:SS.S F[[Link] SSS TTTT DDDD.D !!!] R[[Link] SSS TTTT
8 9 10
67890123456789012345678 9 0
DDDD.D !!!] -[Link]<CR><LF>

Description Form Field

Year YY
Julian Day JJJ
Hour HH
Minute MM
Second SS.S
Magnetic Field (nT) [Link]
Signal Strength SSS
Towfish Depth DDDD.D
Towfish Altitude AAA.A
Measurement Time (ms) TTTT
Warning Messages W, G, P, M,
Gradient (+/-) [Link]
Carriage Return <CR>
Line Feed <LF>

STRATAVIEW SEISMIC SYSTEM FFID

Code Name ffid
INT File XX_FFID
Group GENERAL

Seismic System ID. A unique Seismic Record ID value created at each shot by the Strataview
Recording system.

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String is as follows:

<SP><SP>AAAA<SP><SP><SP><SP>NNN<SP><SP><SP><SP><SP>BB<CR><LF>
Description Form Field
<SP> space 0,1
Seismic ID AAAA 2
<SP> space 6,7,8,9
No. of Channels NNN 10
<SP> space 13,14,15,16,17
<CR><LF>

27-6
Syntron SPS Relational record
Code Name synreln
INT File XX_SYNTRON_SPS
Group GENERAL

Data Format
The incoming data is an ASCII string with a header block followed by a data area. The data
area contains 0 to 32 data blocks followed by a date field and a time field. The header size is
48 bytes and each data block is 80 bytes. You can calculate the number of data blocks by
dividing the size of the data area by 80.
Typical example of an SPS Relational Record:
Bytes 0-3 Type Identifier e.g. HDR
Bytes 4-7 Header offset
Bytes 8-11 Total Packet size e.g. 0387

HDR 00000387RST400480320DATE03680007TIME03750012X964 211H0859126

8761 1 8318561 876 9581X964 21G0859126
8761 84 16618561 876 9581X964 21H0859126
8761 167 24918681 876 9581X964 21G0859126
8761 250 33218681 876 958126Oct96 4:13:50.678

Bytes Description Notes

Header
0-3 ‘HDR’ Identifies the start of the string
4-7 offset Offset of the header from the start of the string. Always zero
8 - 11 length Size of the header in bytes. Always 48
12 - 15 data id Type of data: only ‘RST3’ or ‘RST4’ are supported
16 - 19 offset Offset of the first data area from the start of the string.
20 - 23 length Size of the data area in bytes
24 - 27 ‘DATE’ Date identifier
28 - 31 offset Offset to the date field from the start of the header
32 - 35 length Size of the date field in bytes
36 - 39 ‘TIME’ Time identifier
40 - 43 offset Offset to the time field from the start of the header
44 - 47 length Size of the time field in bytes
Data Block
0 ‘X’ Identifies the start of the block
1-6 Tape number
7 - 10 Record number
11 Record increment
12 Instrument code Either ‘H’, ‘G’, ‘C’ or ‘I’
Interfaces Manual GENERAL

Bytes Description Notes

13 - 28 Line name
29- 36 Shot point number
37 Shot point index
38 - 41 ‘From’ channel
42 - 45 ‘To’ channel
46 Channel increment
47 - 62 Line name
63 - 70 ‘From’ receiver
71 - 78 ‘To’ receiver
79 Receive increment

All data is ASCII and fields may contain spaces. The date field has the format ‘DDMMMYY’ and
the time field has the format ‘hh:mm:[Link]’.

29-6
TIDE Depth Gauge
Code Name tide
INT File XX_TIDE
Group GENERAL

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String is as follows:

0 1 2 3 4
1 2345678901234567890123456789012345678901234
<STX>@01=RR21U010529093847A1960125112807011274B5

Description Form Field

Start Chars "@01" 1
Tide Value (cm) SNNN 23-26 inc.

Tide value in centimetres from 23 to 26. S is either ‘A’ (negative tide values) or zero (positive
tide value). N is a digit from 0 to 9.

Allocated Channel Numbers

Channel Description Notes
1 Depth (cm)
Interfaces Manual GENERAL

TOPSIDE ROV Altimeter

Code Name topside
INT File XX_TOPSIDE
Group GENERAL

This interface is used to obtain information from an ROV. This interface supports five separate
formats, each of which is described below. A table of information obtained from topside is given
below and which of the formats supports each:
UK 90 Alt UK 90 MB 1000 / Alt 1 String Alt 2 String
HB 200
Depth Yes Yes Yes Yes Yes
Altitude 1 Yes Yes Yes Yes Yes
Altitude 2 Yes
Temperature Yes Yes Yes
Pressure Yes Yes Yes
Sound Velocity Yes Yes Yes
Sea Density Yes Yes Yes
Unit Hgt above sea Yes Yes

The interface will automatically determine the format and set the relevant raw channels
accordingly. Any raw channels which are not in the obtained command string are marked as
invalid.

Comms Parameters
UK 90, Alt UK 90, Alt String 1, Alt String 2
Baud 9600
Parity None
Data Bits 8
Stop 2

Comms Parameters
UK 90, Alt UK 90, MB 1000/HB 200
Baud 4800
Parity None
Data Bits 8
Stop 2

Standard UK 90 String Format

[Link] [Link] [Link] Txx Pxxxx Vxxxxx dxxxxx Hxx<CR><LF>
Description Form Field
Depth in meters [Link] 0
Altitude 1 in meters [Link] 1
Altitude 2 in meters [Link] 1
Temperature in degrees Txx 3
Atmospheric Pressure Pxxxx 4
Velocity of sound in water Vxxxxx 5
31-6
Description Form Field
Relative density of water dxxxxx 6
Height of unit above water Hxx 7
CRLF AA 8

Alternate UK 90 String Format

[Link] [Link] Txx Pxxxx Vxxxxx dxxxxx Hxx<CR><LF>
Description Form Field
Depth in meters [Link] 0
Altitude in meters [Link] 1
Temperature in degrees Txx 2
Atmospheric Pressure Pxxxx 3
Velocity of sound in water Vxxxxx 4
Relative density of water dxxxxx 5
Height of unit above water Hxx 6
CRLF AA 7

MB 1000 / HB 200 String Format

[Link] [Link] Txx Pxxxx Vxxxxx dxxxxx<CR><LF>
Description Form Field
Depth in meters [Link] 0
Altitude in meters [Link] 1
Temperature in degrees Txx 2
Atmospheric Pressure Pxxxx 3
Velocity of sound in water Vxxxxx 4
Relative density of water dxxxxx 5
CRLF AA 6

Alternate 1 String Format

ddddd, aaaa<CR><LF>
Description Form Field
Depth in centimeters ddddd 0
Altitude in centimeters aaaa 1
CRLF AA 2
Interfaces Manual GENERAL

Alternate 2 String Format

Extra depth character over Alternate 1 string format.
dddddd, aaaa<CR><LF>
Description Form Field
Depth in centimeters dddddd 0
Altitude in centimeters aaaa 1
CRLF AA 2

33-6
Windvane Wind heading/speed
Code Name windvane
INT File XX_AANDERAA_WINDVANE
Group GENERAL

Format:
$WIMWV,[Link],R,[Link],N,A<CR><LF>
where:
[Link] wind direction
R relative direction
(or T true direction)
[Link] wind speed
N speed in knots

Allocated Channel Numbers

Channel Description Notes
1 Wind direction degrees
2 Wind speed knots
Interfaces Manual GUN

Chapter 7 - GUN
This chapter contains details of RTNU and RTNµ serial interfaces for gun. For details of virtual
interfaces, please refer to Chapter 21 - ’VIRTUAL INTERFACES’.

Standardised Gun Channel Allocation

All gun interfaces return the following 20 channels, although not all of them will be used. Unused
channels are marked as invalid and filled with -1s .
Channel Description Notes
1 Shot number Current shot number
2 Array Fired Index 0=No Array, 1=Port, 2=Starboard, 3=Both Arrays
3 Gun Fired Word #1 Guns 1-32
4 Gun Fired Word #2 Guns 33-64
5 Gun Fired Word #3 Guns 65-96
6 Gun Fired Word #4 Guns 97-128
7 Gun Fired Word #5 Guns 129-160
8 Gun Fired Word #6 Guns 161-192
9 Gun Fired Word #7 Guns 193-224
10 Gun Fired Word #8 Guns 225-256
11 Number of Guns
12 Gun Channel Index Contains the number of the channel where gun data starts.
13 Gun Data Size The number of channels returned per gun (2-4)
14 Gun Channel Format See below
15 Number of Pressures
16 Pressure Channel Index Contains the number of the channel where pressure data
starts.
17 Pressure Data Size The number of channels returned per pressure. (Currently 2)
18 Number of Depths
19 Depth Channel Index Contains the number of the channel where depth data starts.
20 Depth Data Size The number of channels returned per depth. (Currently 2)

Some interfaces may return additional data in these channels:

21...n Free-form channels Arbitrary (interface specific) number of channels.

Gun Channel Format Settings

Bits are set to indicate which channels are returned for each gun. The ID and Status bits are
always set:
Bit 1 GUN ID
Bit 2 GUN FIRETIME
Bit 3 GUN DELTA
Bit 4 GUN STATUS

1-7
GUN Interfaces Manual

Gun Channels
All interfaces will return the ID and Status channels. Some may also return the Firetime and Delta
channels, as indicated by setting bits in the ‘Gun Channel Format’ channel above.
For each Gun
n+1 Gun #1 ID The ID number of the first gun
n+2 Gun #1 Firetime The firing time of the first gun (optional). Units in millisecs
n+3 Gun #1 Delta The delta offset of the first gun (optional). Units in millisecs
n+4 Gun #1 Status The firing status of the first gun (see below)

Gun Status Format

Bits are set to indicate whether the gun fired successfully.
Bit 1 GUN FIRED OK
Bit 2 GUN MISFIRED
Bit 3 GUN DISABLED
Bit 4 GUN OUT OF RANGE
Bit 5 GUN AUTOFIRE

Pressure Channels
Not all interfaces return pressure data. Those that do always return two channels per pressure:
Channel Description Notes
1 Pressure #1 ID The ID number of the pressure (usually the related gun ID)
2 Pressure #1 Data The actual pressure, in PSI

Depth Channels
Not all interfaces return depth data. Those that do always return two channels per depth:
Channel Description Notes
1 Depth #1 ID The ID number of the depth (usually the related gun ID)
2 Depth #1 Data The actual depth, in metres.

2-7
Interfaces Manual GUN

4C Gun Depth/Pressure Unit Interface

Code Name gdru
INT File GN_4CGDRU
Group GUN (Depths only)

The 4C Gun Depth Readout Unit transmits a binary string containing depth and pressure
information.
NOTE: This interface only decodes depth data.
Communications
The data is transmitted using the following default communication parameters:
9,600 Baud
8 Data Bits
1 Stop Bit
No Parity

Format Description
For each gun, 2 bytes containing depth and pressure data.
Each 2 byte word data is encoded as follows:
MSB bits 15 - 15 (1) sign bit set to 0 for readings
bits 14 - 10 (5) Represent depth sensor ID number. This provides a range from 0 to 31.
bits 9 - 0 (10) Represents the internal integer representation of the depth in 1/10
metres (0 to 102.3metres), or in the case of pressure, pressure in 10 psi
increments (0 to 10230psi)

Format Bytes Value Description

Bin 0 - 1 (2) 0x8000 Sync characters - always 0x8000
Bin 3 - 4 (2) Gun #1 Data
Bin 5 - 6 (2) Gun #2Data
Bin 7 - 8 (2) Gun #n Data
Bin ? - ? (2) 0xFFFF End of message identifier - always 0xFFFF
Bin (2) Checksum of message - includes start and end delimiters

Notes
• Unit requires host computer to send the character 'd' (0x64) before data will be
transmitted.
• Test messages will be output on reception of any command with the MSB set.
• Commands 0x80 to 0xBF return a test message with N readings starting at device 0 with
a reading of 10.0, then device 1 with a reading of 10.1 and so on. The value of N is deter-
mined by subtracting 0x80 from the command value.

Channels
This interface returns only depth data according to the standardised gun interface description. No
other gun information is available. Depths are returned in meters.
See “Standardised Gun Channel Allocation” on page 1-7 for channel description.

3-7
GUN Interfaces Manual

Aircon Gun Controller

Code Name aircon
INT File GN_AIRCON
Group GUN

Bit-Mapping of Gun Fired Data

If byte #0 is non-zero and byte #2 is zero, set the Gun Fired bit.
Individual Gun Fired data is bit-mapped into 4 long words as shown below. The following
conditions must all be met before the Gun Fired bit is set in the relevant Gun Fired word:
Bits c, d and e must be set indicating normal gun operation.
[Channel 5] [Channel 4] [Channel 3] [Channel 2]
128 96 64 32 1

[Channel 9] [Channel 8] [Channel 7] [Channel 6]

256 224 192 160
For example:
...111 ...110 ...010 ...100
guns #97, #98, #99 guns, #66, #67 fired gun #34 fired gun #3 fired

4-7
Interfaces Manual GUN

Allocated Channels
Channel Description Notes
1-20 See “Standardised Gun Channel Allocation” on page 1-7
21 Shot Point
22 Shot Status
23 No. of Active GSMs
24 No. of Guns Fired
25 No. of Guns Misfired
26 No. of Guns Out of Range
27 No. of Guns Disabled

Gun data therefore starts in channel 27

5-7
GUN Interfaces Manual

Aircon Gun Controller - GDS

Code Name acongds
INT File GN_AIRCONGDS
Group GUN

The GDS Aircon Gun Controller is essentially the same as the Aircon Gun Controller. Please
refer to “Aircon Gun Controller” on page 4-7 for full details. There are some differences between
the two:
The 982-byte string of binary data is followed immediately by an ASCII string of the format:
[Link],[Link],pppp (repeated 6 times) <LF>
where:
[Link] depth
pppp pressure

While the GDS hardware is capable of outputting the depth and pressure data in any order, it
MUST be configured to output in the order shown above, i.e.
depth,depth,pressure,[Link],pressure, etc. If it is not configured in this way, the interface
will not function correctly.

6-7
Interfaces Manual GUN

BIGSHOT
Code Name bigshot
INT File GN_BIGSHOT
Group GUN

Data format:
Two formats are supported, LONG and SHORT. The interface will automatically detect which is in
use. All values are ASCII strings and are padded with spaces if they do not occupy the whole
field. The string consists of two structures; the header, string and gun structures. For each shot:
• 1 header structure,
• x string structures and
• y gun structures are output.
where x is the number of strings in all source and y is the number of guns in the current source.
The string is ended with a <CRLF> termination.

SHORT serial string

The following structure describes the SHORT serial string that is output from the BigShot after
each shot.

Header Section
Format Bytes Content Description
ASCII 0-7 (8) "*BIGSHOT" Header
ASCII 8-11 (4) vernum Software Version number
ASCII 12-15 (4) blk_siz Status block size in characters
ASCII 16-23 (8) line Line number may contain non-numeric characters
ASCII 24-33 (10) shot Shot point may contain decimal point
ASCII 34-51 (17) time Shot time tag
ASCII 52 (1) trg_mode Trigger mode: I=internal E=external
ASCII 53 (1) source Current Source number
ASCII 54 (1) num_strings Number of strings
ASCII 55-56 (2) num_guns Number of guns per string
ASCII 57-58 (2) num_source Number of guns in selected source
ASCII 59-60 (2) total_guns Number of guns in all sources

fired array Q/C Flags (if space, no error)

7-7
GUN Interfaces Manual

Format Bytes Content Description

ASCII 68 (1) fire_cont_error C = fire line continuity error occurred in array
ASCII 69 (1) sense_leak_error L = sensor line leakage error occurred in array
ASCII 70 (1) sense_cont_error C = sensor line continuity error occurred in array

fired array Q/C values

Format Bytes Content Description
ASCII 71-74 (4) spread Delta spread across array in 1/10 msecs
ASCII 75-80 (6) volume Total volume fired
ASCII 81-84 (4) manifold Manifold Pressure

future expansion
Format Bytes Content Description
ASCII 85-100 (16) spare pads out to 100 bytes

String Section
Format Bytes Content Description
ASCII 0 (1) number String number
ASCII 1 (1) fired String fired indicator char Y/N
ASCII 2 (1) autofire String fired indicator char A/[sp]
ASCII 3 (1) spare
ASCII 4 (4) string_pressure String pressure at firing
ASCII 5 (8) expansion future expansion

Gun Section
Format Bytes Content Description
ASCII 0-1 (2) lstring Logical String number
ASCII 2-3 (2) lgun Logical Gun number

gun settings
Format Bytes Content Description
ASCII 4 (1) source_num Source number for gun
ASCII 5 (1) mode Gun mode: [A]uto, [M]anual, [S]pare, [O]ff
ASCII 6-9 (4) offset Static offset in msecs
ASCII 10-13 (4) delay Gun delay in msecs

gun readings
Format Bytes Content Description
ASCII 14-19 (6) firetime Gun fire time in msecs
ASCII 20-23 (4) autotime latched time of first autofire after previous system
trigger. 0000 is no auto-fire
ASCII 24-27 (4) delta Delta in msecs
ASCII 28-31 (4) depth Depth in metres: OFF=not enabled, NS=no signal

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LONG serial string

The following structure describes the LONG serial string that is output from the BigShot after
each shot.

Header Section
Format Bytes Content Description
ASCII 0-7 (8) "*BSLONG" Header
ASCII 8-11 (4) vernum Software Version number
ASCII 12-15 (4) blk_siz Status block size in characters
ASCII 16-23 (8) line Line number may contain non-numeric characters
ASCII 24-33 (10) shot Shot point may contain decimal point
ASCII 34-51 (17) time Shot time tag
ASCII 52 (1) trg_mode Trigger mode: I=internal E=external
ASCII 53 (1) source Current Source number
ASCII 54 (1) num_strings Number of strings
ASCII 55-56 (2) num_guns Number of guns per string
ASCII 57-58 (2) num_source Number of guns in selected source
ASCII 59-60 (2) total_guns Number of guns in all sources

fired array Q/C Flags (if space, no error)

Format Bytes Content Description
ASCII 61 (1) delta_error D = delta error occurred in array
ASCII 62 (1) spread_error S = spread error occurred in array
ASCII 63 (1) volume_error V = volume error occurred in array
ASCII 64 (1) pressure_error P = gun pressure error occurred in array
ASCII 65 (1) manifold_error M = manifold pressure error occurred in array
ASCII 66 (1) depth_error D = gun depth error occurred in array
ASCII 67 (1) fire_leak_error L = fire line leakage error occurred in array
ASCII 68 (1) fire_cont_error C = fire line continuity error occurred in array
ASCII 69 (1) sense_leak_error L = sensor line leakage error occurred in array
ASCII 70 (1) sense_cont_error C = sensor line continuity error occurred in array

fired array Q/C values

Format Bytes Content Description
ASCII 71-74 (4) spread Delta spread across array in 1/10 msecs
ASCII 75-80 (6) volume Total volume fired
ASCII 81-84 (4) manifold Manifold Pressure

Critical menu settings

Format Bytes Content Description
ASCII 85-88 (4) aim_point Aiming point for guns after trigger msecs
ASCII 89-92 (4) delta_tol Delta tolerance
ASCII 93-96 (4) spread_tol Spread tolerance
ASCII 97-102 (6) min_volume Minimum volume
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Format Bytes Content Description

ASCII 103-104 (2) look_window Look window for sensor return in msecs
ASCII 105-108 (4) peak_threshold Threshol for sensor peak detection in volts
ASCII 109-112 (4) auto_threshold Threshold for auto-fire detection in volts
ASCII 113-114 (2) auto_count Sample count for auto-fire detection
ASCII 115-118 (4) min_pressure Minimum pressure
ASCII 119-122 (4) min_depth Minimum gun depth
ASCII 123-126 (4) max_depth Maximum gun depth
ASCII 127-130 (4) min_fire_leak Minimum fire line leakage
ASCII 131-134 (4) max_fire_cont Maximum fire line continuity
ASCII 135-138 (4) min_sensor_leak Minimum sensor line leakage
ASCII 139-142 (4) max_sensor_cont Maximum sensor line continuity

future expansion
Format Bytes Content Description
ASCII 143-200 (58) spare pads out to 200 bytes

String Section
Format Bytes Content Description
ASCII 0 (1) number String number
ASCII 1 (1) fired String fired indicator char Y/N
ASCII 2 (1) autofire String fired indicator char A/[sp]
ASCII 3 (1) spare
ASCII 4-7 (4) string_pressure String pressure at firing
ASCII 8-15 (8) expansion future expansion

Gun Section
Format Bytes Content Description
ASCII 0-1 (2) pstring Physical String number
ASCII 2-3 (2) pgun Physical Gun number
ASCII 4-5 (2) lstring Logical String number
ASCII 6-7 (2) lgun Logical Gun number

gun settings
Format Bytes Content Description
ASCII 8 (1) source_num Source number for gun
ASCII 9 (1) mode Gun mode: [A]uto, [M]anual, [S]pare, [O]ff
ASCII 10 (1) detect [P]eak, [Z]ero, [L]evel
ASCII 11 (1) automode Auto fire detect: [Y]es, [N]o
ASCII 12 (1) invert Sensor invert: I=invert, N=normal
ASCII 13 (1) spare space 0x20
ASCII 14-17 (4) volume Gun volume

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Format Bytes Content Description

ASCII 18-21 (4) gain Sensor gain
ASCII 22-25 (4) offset Static offset in msecs
ASCII 26-29 (4) delay Gun delay in msecs

gun readings
Format Bytes Content Description
ASCII 30-35 (6) firetime Gun fire time in msecs
ASCII 36-39 (4) autotime Latched time of first autofire after previous system
trigger. 0000 is no auto-fire
ASCII 40-43 (4) amplitude Sensor amplitude in volts
ASCII 44-47 (4) delta Delta in msecs
ASCII 48-51 (4) sense_cont Sensor continuity in ohms, ohmsK, ohmsM
ASCII 52-55 (4) sense_leak Sensor leakage in ohms, ohmsK, ohmsM
ASCII 56-59 (4) fire_cont Firing line continuity in ohms, ohmsK, ohmsM
ASCII 60-63 (4) fire_leak Firing line leakage in ohms, ohmsK, ohmsM
ASCII 64-67 (4) depth Depth in metres: OF =not enabled, NS=no signal

Channel Allocation
Channel Description Notes
1-20 See “Standardised Gun Channel Allocation” on page 1-7
21 Delta Error 1=error 0=no error
22 Spread Error "
23 Volume Error "
24 Pressure Error "
25 Manifold Error "
26 Depth Error "
27 Fire Leak Error "
28 Fire Continuity Error "
29 Sense Leak Error "
30 Sense Continuity Error "
31 Delta Spread in 1/10 msecs
32 Total Volume Fired
33 Manifold Pressure

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Gun External Header Manifold Pressure Interface

Code Name manifold
INT File GN_EXTHDR_MANIFOLD_PRESSURE
Group GUN

This interface decodes the Manifold Pressure description block in the Geco External Header.
The MANIFOLD module communicates with the Manifold pressure unit using a 16 bit parallel
input interface. A typical Header block is organized as follows:
24 Byte General description block
Word 1-2 Shotpoint number, 7 BCD digits plus sign
Word 3-6 Software Identification - BB MM YY VV
Word 7 Not used
Word 8 Size of header in bytes
Word 9 Number of interface description blocks
Word 10 File Number – coded as 4 BCD digits
Word 11-12 Header ID – 4 ASCII characters “GEXT”
24 Byte Interface description block
Word 1 Header block number
Word 2 Interface device code (24 for Manifold Pressure)
Word 3-6 Interface name – 8 ASCII characters
Word 7 Byte offset for interface data
Word 8 No. of bytes in interface data block
Word 9 No. of interface units connected
Word 10 Device time
Word 11 Data block format code
Word 12 Data block valid status (1-OK, 0-NOK)
Data Block
Checksum

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Format
Data Block size is always 2 bytes and is made up of 1 word containing the Manifold pressure (PSI
units) and encoded as 4 BCD digits.

Allocated Channel Numbers

As per “Standardised Gun Channel Allocation” on page 1-7.

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GMU
Code Name gmu
INT File GN_GMU
Group GUN

Two binary bytes per gun. If the 4 Most Significant Bits are set, the remaining 12 bits are the
depth, otherwise they are the pressure.

Data Example
F154F153F154F1521920F1501930F151
If the MS 4 Bits of the field are Hex F then
Data is Depth in either 0.1 Metres or Feet.
F is masked off
Else
Both Bytes are Pressure in PSI
End If
Depth will be returned in Metres.
Format Bytes Description
BCD 0-1 (2) Gun 1 Depth
BCD 2-3 (2) Gun 2 Depth
BCD 4-5 (2) Gun 3 Depth
BCD 6-7 (2) Gun 4 Depth
BCD 8-9 (2) Gun 5 Pressure
BCD 10-11 (2) Gun 6 Depth
BCD 12-13 (2) Gun 7 Pressure
BCD 14-15 (2) Gun 8 Depth
etc…

Channel Allocation
As per “Standardised Gun Channel Allocation” on page 1-7.

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GUNDA Gun Controller

Code Name gunda
INT File GN_GUNDA
Group GUN

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
The data block is of variable length, depending on how many guns are enabled. The header
block will be defined with sufficient capacity to hold the largest number of guns expected.

GUNDA Format 1
The data block consists of 3 groups:
• Header block, 3 words (of 16 bits each)
• Data body, 6 words per gun, max 64 guns
• Trailer block, 4 words.

Header Block
Word 1 Control word, AAAA hex
Word 2 Control word, AAAA hex
Word 3 Data body length in binary (= no. of guns x 6)

Data Body
Word 1 Status and gun ID
Bit 15 (msb) Not used (0)
Bit 14 Invalid data
Bit 13 Misfire
Bit 12 Out of range
Bit 11 Not used (0)
Bit 10 Auto mode
Bit 9 Manual mode
Bit 8 Not used (0)
Bit 7 Port = 1, Stb. = 0
Bit 6-4 Array no. 1-8 coded as 0-7
Bit 3-0 Gun no. 1-16, coded as 0-15
Word 2 Gun volume in cubic inches. Binary coded unsigned number.
Word 3 Offset. Binary 2’s complement signed number.
Word 4: Error. Binary 2’s complement signed number. Negative is early,
positive is late.
Word 5 Tilt. Binary 2’s complement signed number. Negative is tilt advanced.
Word 6 Delay. Binary coded unsigned number.

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Trailer Block
Word 1 Control word, AAAA hex.
Word 2 Checksum, xor of all words in data body.
Word 3 Contorl word, FFFF hex.
Word 4 Control word, FFFF hex.

All binary numbers are 0.1 mS resolution.

GUNDA Format 2
The GUNDA Format 2 is not supported.

GUN Array Numbering

This gun controller uses the Ids 1 and 2 to represent Starboard and Port gun arrays respectively.

GUN Numbering
Gun numbering is determined by the position of the gun on a particular string within the array.
The GUNDA gun controller defines a maximum of 16 guns per string and a maximum of 8 strings
per array. However, the controller limits the total number of guns on an array to 64.
The GUNDA gun controller defines a physical gun using:
• Port or starboard location (1, 0)
• String number (0 to 7)
• Gun number (0 to 15)
Each gun is mapped onto a unique gun ID as follows:
Within the starboard array, guns are numbered 1 to 16 on string 1, 17 to 32 on string 2 and so on.
Similarly, on the port array, guns are numbered 65 to 80 on string 1, 81 to 96 on string 2 and so
on.
When defining gun Ids within the SCN or SNN, you must determine where each gun is physically
defined in order to determine its ID.
For example, a configuration of 2 arrays (port and starboard), 3 strings per array and 3 guns per
string, the gun numbering should be as follows:
Starboard Gun ID Port Gun ID
String 0, Gun 0 1 String 0, Gun 0 65
String 0, Gun 1 2 String 0, Gun 1 66
String 0, Gun 2 3 String 0, Gun 2 67
String 1, Gun 0 17 String 1, Gun 0 81
String 1, Gun 1 18 String 1, Gun 1 82
String 1, Gun 2 19 String 1, Gun 2 83
String 2, Gun 0 33 String 2, Gun 0 97
String 2, Gun 1 34 String 2, Gun 1 98
String 2, Gun 2 35 String 2, Gun 2 99

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Allocated Channels
Channel Description Notes
1-20 See “Standardised Gun Channel Allocation” on page 1-7.
Gun Data starts in channel 21.

This GUN interface returns the following data per gun:

• ID
• Firetime in ms
• Delta in ms
• Status (see “Standardised Gun Channel Allocation” on page 1-7).
The interface does NOT support gun depths or pressures.

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Horizon RTNU Gun Controller Header

Code Name hgd
INT File GN_HORGC
Group GUN

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity

Expected Input
Variable ASCII string terminated by a <CR> and fields delimited by spaces.
Name Format Description
SP A3 SHOT IDENT
shot ASCII Shot Number
LINE A5 LINE IDENT
Line Name ASCII Line Name
GYRO A5 GYRO IDENT
Gyro f.1 Gyro
WDEP A5 DEPTH IDENT
Water Depth f.1 Water Depth
DA A3 DALONG IDENT
Distance Along D Distance Along
DE A3 DEND IDENT
Distance End D Distance To End
DC A3 DACROSS IDENT
Distance Off D Distance Off
CMG A4 COURSE MADE GOOD IDENT
CMG f.1 Course Made Good
HDG A4 HEADING IDENT
Heading f.1 Line Heading
LATL A4 LATITUDE IDENT
Latitude ASCII Latitude (in degrees, minutes, seconds)
LONL A4 LONGITUDE IDENT
Longitude ASCII Longitude (in degrees, minutes, seconds)
NTIME A6 PREDICTED SHOT TIME IDENT
time ASCII Predicted Shot Time
Termination A1 0x0D (CR) for termination

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Allocated Channels
Channel Description Notes
1-20 See “Standardised Gun Channel Allocation” on page 1-7
21 Gyro Heading
22 Distance along line.
23 Distance to end of line
24 Distance off-line
25 Course Made Good
26 Line Heading
27 Latitude
28 Longitude
Gun Data starts in channel 29.

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Hydra Pulse
Code Name hpulse
INT File GN_HPULSE
Group GUN

The data is transmitted using the following communication parameters

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Format is binary unless stated otherwise.
27 byte Header Bytes 0-4 Shot Count
Bytes 5-23 (ASCII) Line Name
Byte 24 No. of Guns
Byte 25 No. of Arrays
Byte 26 Pattern Count
2 bytes per Array Bytes 0-1 Array Pattern
5 bytes per Gun Byte 0 Gun Status (1=good)
Bytes 1-4 Aimpoint

Channel Allocation
Channel Description Notes
1-20 See “Standardised Gun Channel Allocation” on page 1-7
21 No. of Arrays
22 No. of Disabled Guns
23 No. of Misfires
24 No. of Timing Errors
25 No. of Amplitude Errors
26 No. of Guns with Time and Amplitude Errors
27 No. of Autofires
Gun data starts in channel 28.

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Hydropulse
Code Name hdg
INT File GN_HDG
Group GUN

The data is transmitted using the following communication parameters

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Format is identical to “Syntron Gun Controller - V2” on page 40-7 except the ID string is “*H200X”
rather than “*GCS90”.

Allocated Channels
Identical to “Syntron Gun Controller - V2” on page 40-7.

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LRS100 Gun Controller

Code Name lrs100
INT File GN_LRS100
Group GUN

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Format Bytes Description
Binary 0 - 3 (4) Gun #1 Data
Binary 4 - 7 (4) Gun #2 Data
: : :
Binary 1020 - 1023 (4) Gun #256 Data

Bit-Mapping of Gun Fired Data

Each gun has 4 bytes assigned to it and the relevant bits for each gun are:
Byte 0 Bits 6 [A] & 5 [B]
Byte 2 Bits 6 [D] & 5 [E]
Truth Table Byte 0:
A B
0 0 Normal
0 1 Out Of Range
1 0 Misfire
1 1 Disabled

Truth Table Byte 2:

D E
0 0 Disabled
0 1 Auto Enable
1 0 Manual Enable
1 1 Invalid

Akademic Nemchinov PIU Format:

Individual Gun Fired data is bit-mapped into 4 long words as shown below.
[Channel 5] [Channel 4] [Channel 3] [Channel 2]
128 96 64 32 1

[Channel 9] [Channel 8] [Channel 7] [Channel 6]

256 224 192 160
For example:
...111 ...110 ...010 ...100
guns #97, #98, #99 guns, #66, #67 fired gun #34 fired gun #3 fired

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Allocated Channels
As per “Standardised Gun Channel Allocation” on page 1-7.

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LRS100 Gun Controller (32 Gun) - PGS Version

Code Name lrs100pg
INT File GN_LRS
Group GUN

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Format is identical to “LRS100 Gun Controller”, but preceded by the ASCII string “GUN”.

Allocated Channels
As per “Standardised Gun Channel Allocation” on page 1-7.

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Macha
Code Name macha
INT File GN_MACHA
Group GUN

This interface assumes Macha version ? Previous versions have a different depth block
specification.
Macha can output depths in either millimetres or inches. Our interface assumes millimetres.

Data format:
ASCII. 29 byte header followed by a variable number of 6 byte depth blocks followed by a
variable number of 38 byte gun blocks. The strin‘g is terminated by a <CR><LF>.

Formats
A<n> indicates a string of <n> characters. I<n> indicates an integer of <n> digits.

Header Block
Bytes Format Description
0-2 A3 'MCH' sync string
3 A1 space
4-11 I8 Shot number
12 A1 space
13-14 I2 Number of depths
15 A1 space
16-17 I2 Number of guns
18 A1 space
19-23 I5 Total fired gun volume
24 A1 space
25-28 I4 pressure

Depth block
Bytes Format Description
0 A1 space
1-2 I2 Gun number
3 A1 space
4-5 I2 Depth

Gun block
Bytes Format Description
0 A1 space
1-2 I2 Port ID number
3 A1 space
4-5 I2 Gun number
6 A1 space
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Bytes Format Description

7 I1 Gun status flag (see below)
8 A1 space
9 I1 Autofire flag
10 A1 space
11-14 I4 Gun aim point in 1/10ms
15 A1 space
16-18 I3 Gun fire delay in 1/10ms
19 A1 space
20-23 I4 Gun fire time in 1/10ms
24 A1 space
25-28 I4 Gun timebreak error in 1/10ms
29 A1 space
30-37 I8 Not used (zeroes)

Macha Gun status flags -> Map to -> Standard flags

0 = Off -> 4 (disabled)
1 = Nofire -> 4 (disabled)
2 = Spare -> 4 (disabled)
3 = GTB error -> 2 (misfire)
4 = Fired -> 1 (fired OK)
5 = Spare fired -> 4 (disabled)
6 = Off fired -> 4 (disabled)
7 = Not charged -> 2 (misfire)
The standard setup is as follows:
0 = invalid
1 = fired
2 = misfire
4 = disabled
8 = out of range

Channel allocation
As per “Standardised Gun Channel Allocation” on page 1-7.

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Merv
Code Name merv
INT File GN_MERV
Group GUN

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Typical string format is:
nnn nnn nnn nnn ... nnn<CR><LF>
Also accepted is:
Rnnn nnn nnn nnn … nnn<CR><LF>
where nnn = depth in decimetres
Depths are separated by spaces and the string ends with a carriage return and a linefeed. There
are 20 depths, so the string is always 81 characters long.

Allocated Channels
As per “Standardised Gun Channel Allocation” on page 1-7.

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Newport P6000 Gun Manifold Pressure Interface

Code Name npp6000
INT File GN_NPP6000_PRES
Group GUN

This interface reads commands from a Newport P6000 Gun manifold pressures unit. There are 3
forms of the command. The interface supports all three formats, automatically detecting which
form is supplied. The 12 and 8 character formats are as obtained from the manual. The 11
character format is as obtained from a sample using a P6000 unit and is not listed in the manual.
The data is transmitted using the following communication parameters:
9,600 Baud
7 Data Bits
1 Stop Bit
Even Parity
Typical ASCII String is as follows :

12 Character Format
Char 0 1234567 8 9 10 11
H <pressure value> SP H Z CR
SP
B
L

Description Form Field

Alarm H – High Alarm 0
L – Low Alarm
B – High and Low Alarms
Space – Neither high or low
Pressure Value +ve – 6 digits and . 1-7
-ve - -, 5 digits and .
Fill character Space 8
exponential form 9.99E9 or –9.9E
Measurement characters HZ – frequency 9 – 10
MS – time interval
2 Spaces – frequency ratio
Terminating character CR 11

9 Character Format
Char 0 1234567
H <pressure value> CR
SP
B
L

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Description Form Field

Alarm H – High Alarm 0
L – Low Alarm
B – High and Low Alarms
Space – Neither high or low
Pressure Value +ve – 6 digits and . 1-7
-ve - -, 5 digits and .
Terminating character CR 8

11 Character Format
Char 0123456 7 8 9 10
<pressure value> CR LF CR LF

Description Form Field

Pressure Value +ve – 6 digits and . 0-6
-ve - -, 5 digits and .
Terminating character CR 7
Ignored Characters LF CR LF 8 - 10

Allocated Channel Numbers

Channel Description Notes
1-20 See “Standardised Gun Channel Allocation” on page 1-7
21 Gun 1 Pressure ID
22 Gun 1 Pressure

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Omega
Code Name omega
INT File GN_OMEGA
Group GUN

The controller does not return any guns or depths, just one pressure.

Data format:
V01 nnnnn.n<CR>
Where nnnnn.n is the pressure in PSI

Allocated channels
As per “Standardised Gun Channel Allocation” on page 1-7.

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Reftek Gun Controller

Code Name reftek
INT File GN_REFTEK
Group GUN

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Definition Format Comments
[General Block]
Shot number I2 Shot Number
[The following sequence is repeated for each Gun]
Gun Mode A1 Y=Auto, S=Fixed delay, N=Off
Gun State A1 ‘0' - All is fine.
‘1' - Gun fire out of time QC ( > ±1.0ms).
‘2' - Gun fire out of amplitude QC (low sensor signal).
‘3' - Gun fire out of time & amplitude control.
‘4' - Gun timing is out of range.
‘5' - Gun Timing is out of range + 1
‘6' - Gun Timing is out of range + 2
‘7' - Gun Timing is out of range + 3
‘^' - Gun fire pulse is outside reject amplitude toler-ance.
‘#' - Gun is waiting for its sequence # (flip flop shoot-ing).
‘A' - Gun is auto firing.
Gun Delay I2 Binary in 100ths of ms (1st Byte MSB).
Fire Time I2 Binary in 100ths of ms (1st Byte MSB).
Depth I2 Depth (value always 00).

Total Number of Bytes = 386

A1 1 ASCII Character
I2 2 Binary Bytes

Bit-Mapping of Gun Fired Data

Individual Gun Fired data is bit-mapped into 4 long words as shown below. The following 4
conditions must all be met before the Gun Fired bit is set in the relevant Gun Fired word:
1. Gun mode flag = "Y" – Auto Mode.
2. Gun state flag = “0” – All is Fine.
3. Gun delay not equal to 0.
4. Fire time not equal to 0.

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[Channel 5] [Channel 4] [Channel 3] [Channel 2]

128 96 64 32 1

[Channel 9] [Channel 8] [Channel 7] [Channel 6]

256 224 192 160
For example:
...111 ...110 ...010 ...100
guns #97, #98, #99 guns, #66, #67 fired gun #34 fired gun #3 fired

Allocated Channels
Channel Description Notes
1-20 See “Standardised Gun Channel Allocation” on page 1-7
21 No. of Guns Auto-fired
22 No. of Guns set to Auto-fire
23 No. of Guns Off
24 No. of Guns Fixed
Gun data starts in channel 25

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Reftek Gun Depths Interface

Code Name reftekdepth
INT File GN_REFTEK_DEPTH
Group GUN

This interface fills out depths as obtained from the Reftek Gun depths device. The interface
requires to be set up as mode interrogate reference to shot with the string ‘OxDA’ (Carriage
Return A) set as the interrogate string
There are 3 forms of the command, the basic form returns depths information, a second form can
be made to return depths and tension information and a third form some depths and pressure
information. The format to use should be selected via the RTCN.
The data is transmitted using the following communication parameters:
4,800 Baud
8 Data Bits
1 Stop Bit
Odd Parity
Typical Binary Coded Decimal String is as follows :

Format 1 (128 bytes) Depths Only

There are 64 channels of data. Each channel generates 1 word of information and each 2 byte
word is encoded as 4 binary coded decimal digits representing the depth in centimeters. The
correspondence between Reftek gun numbering and port and starboard guns is as follows:
Reftek Guns Port or Starboard Array Guns in Array
1 to 8 Port array 1 1 to 8
9 to 16 Port array 2 1 to 8
17 to 24 Port array 3 1 to 8
25 to 32 Port array 4 1 to 8
33 to 40 Starboard array 1 1 to 8
41 to 48 Starboard array 2 1 to 8
49 to 56 Starboard array 3 1 to 8
57 to 64 Starboard array 4 1 to 8

Format 2 (136 bytes) Depth and tension data

Format 2 is format 1 plus an extra 4 channels of tension cell data tagged onto the end of the
depth data. Each channel represents streamer tension cell data in kilogrammes. Tension cell 1 is
the starboard most streamer, tension cells 2 – 4 follow in a clockwise direction.

Format 3 (144 bytes) Depth and sub array manifold pressure

Format 2 is format 1 plus 8 channels of sub array manifold pressure information. Pressure
channel indexing is in the order 4 X port arrays and 4 X starboard (innermost to outer). As with
depths each channel is 4 BCD digits representing the pressure in PSI.

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Allocated Channel Numbers

Channel Description Notes
1-20 See “Standardised Gun Channel Allocation” on page 1-7
21 Tensions
22 Tension Index
23 Tension Block Size
24 Tension 1 ID
25 Tension 1
Tension ID and tension value repeated for 4 tensions
32 Gun 1 Pressure ID
33 Gun 1 Pressure
Gun Pressure ID and pressure value repeated for 8 pressures
48 Gun 1 Depth ID
49 Gun 1 Depth
Gun Depth ID and depth value repeated for 64 depths

Options
The Data Format option on the Configuration tab of the RTCN’s Interface Editor allows you to
choose beween:
Format 1 (depths only)
Format 2 (depths and tensions)
Format 3 (depths and pressures)
Enable the check box and select the appropriate format from the list. See above for descriptions
of formats.

33-7
GUN Interfaces Manual

Sureshot
Code Name sureshot
INT File GN_SURESHOT
Group GUN

Data Format
*SURSHOT0124000001010000020199/05/24 12:01:02 NENL
0201010101000100020003000400050006123412.3
01A [Link]
02AB20.300.047.3
<CR><LF>
All data is in ASCII form.
Format Definition
Header Block
*SURSHOT sync string
0124 size of message
00000101 shot number
00000201 line name
99/05/24 Date
12:01:02 Time
N system mode (O=Off, N=Normal, W=Warmup, T=Test)
E trigger mode (I=Internal, E=External)
N gun type (N=Normal)
L detect mode (P=Peak, Z=Zero, L=Level)
02 number of guns
01 number of delta errors in shot
01 number of autofires in shot
01 number of misfires in shot
01 number of bubble errors in shot
0001 number of delta errors in line
0002 number of autofires in line
0003 number of misfires in line
0004 number of bubble errors in line
0005 number of volume errors in line
0006 number of spread errors in line
1234 shot volume
12.3 timefrom first to last gun fired (spread)
Gun block
01 gun number
A gun mode (A=Auto, M=Manual, S=Spare, O=Off)
‘‘ flag (M=Misfire, A=Autofire, B=Bubble error, *=auto and bubble error, ‘
‘=none)
18.7 delay in ms
34-7
Interfaces Manual GUN

Format Definition
00.0 static offset in ms (delta)
50.1 fire time in ms
The block is repeated for each gun, and the string is terminated with a <CR><LF>

35-7
GUN Interfaces Manual

Syntron Gun CGG FORMAT

Code Name sgccgg
INT File GN_SGC_CGG
Group GUN

This GUN Data is sent from the TOPSHOOTER Gun Controller System and has a similar format
to the SYNTRON GCS90 format. The table below describes the fields and the differences.
Communications
The data is transmitted using the following default communication parameters:
9,600 Baud
8 Data Bits
1 Stop Bit
No Parity

Syntron Gun CGG Format

Format No of Bytes Description
AAAAAA 6 “*TOPSH” id string
NNNN 4 # of bytes in block, inc CRLF
AAAAAAAN 8 Last 8 digits of the Line Name
NNNNNNNNNN 10 Shot Point
XX 2 Active Array Mask
A 1 Trigger Mode ("I" = Internal, "E" =External)
YY/MM/DD 8 Date
:HH:MM:SS 9 Time
N 1 Current Sequence Number – Not available – always 9
N 1 # of Subarrays
NN 2 # of guns in array
NN 2 # of active guns
NN 2 # of delta errors in shot
NN 2 # of Auto-fires in shot
NN 2 # of Miss-fires in shot
NNN 3 Delta spread for total array (1/10 msecs)
NNNNN 5 Volume Fired
[Link] 5 Average Delta (ms)
[Link] 5 Average Deviation Delta (ms)
NNNN 4 Aiming Point (0.1 ms) see note 1
NNNN 4 Manifold Pressure
NNNN 4 Deep Tow (Not Available – always 9999)
The following sequence is repeated for the "# of Subarrays":
NNNN 4 Subarray String Pressure
The following sequence is repeated for ALL guns:
NN 2 Shot Channel Number
A 1 Gun Mode: [A]uto, [M]anual, [S]pare, [O]ff
36-7
Interfaces Manual GUN

Format No of Bytes Description

A 1 Detect Mode (P - Peak, Z - Zero Cross )
1 Sequence Number
A 1 Auto-fire (Y-Yes, N-No)
A 1 Blank
NNN 3 Time Gap between TB and NF in Calibration procedure
(0.1 msecs)
NNN 3 Gun Delay (0.1 msecs)
NNN 3 Fire Time (Not Available – always 999, see note 1.
NNN 3 Delta (0.1 msecs)
NNN 3 Depth (0.1 metres)

A system with 64 guns in 8 subarrays will have:90 + 8*4 + 64*22 = 1532 bytes in the status string
(including the CRLF at the end of the message)
Note: Aiming Point – Fire Time
In the GCS90 format, Fire Time is expressed in 0.1 ms and is written as 3 bytes in the individual
gun block. For a gun firing time of > 100ms, this value is unwriteable in this field. The CGG format
uses the spare 14 bytes to return 1. Average Delta, 2. Average Deviation Delta and 3. Aiming
Point data. The latter value is used together with the individual gun delta value to provide the
firing time i.e.
Fire Time = Aiming Point Value + Delta.
Please refer to the format description in “Syntron Gun Controller - V2” on page 40-7.

37-7
GUN Interfaces Manual

Syntron Gun Controller

Code Name sgc
INT File GN_SYNTRON_V1
Group GUN

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Format No of Bytes Description
AAAAAA 6 *GCS90 id string
NNNN 4 # of bytes in block, inc CRLF
NNNNNN 6 Line Number
NNNN 4 Shot Point
XX 2 Active Array Mask
NN 2 Current Sequence Number
NNN 3 # of guns in array
NNN 3 # of active guns
NNN 3 # of delta errors in shot
NNN 3 # of Auto-fires in shot
NNN 3 # of Miss-fires in shot
NNN 3 Delta spread for total array (1/10 msecs)
NNNNNN 6 Volume Fired
Spare 22 Spare bytes
The following sequence is repeated for the "number of guns in array":
NN 2 Physical Port Number
A 1 Gun Mode: [A]uto, [M]anual, [S]pare, [O]ff
A 1 Detect Mode (P - Peak, Z - Zero Cross )
N 1 Sequence Number
A 1 Auto-fire (Y-Yes, N-No)
A 1 Blank
NNN 3 Static Offset (1/10 msecs)
NNN 3 Gun Delay (1/10 msecs)
NNN 3 Fire Time (1/10 msecs)
NNN 3 Delta (1/10 msecs)
NNN 3 Depth (1/10 metres)
CRLF 2 Carriage return/Line feed

Note: A system with 64 guns will have 1480 bytes in the status string including the CRLF.

Bit-Mapping of Gun Fired Data

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Interfaces Manual GUN

Individual Gun Fired data is bit-mapped into 4 long words as shown below. The following 7
conditions must all be met before the Gun Fired bit is set in the relevant Gun Fired word:
1. Gun mode flag = "A" for auto.
2. Current sequence number = individual gun sequence number.
3. Autofire flag = "N" for no.
4. Static offset not equal to 0.
5. Gun delay not equal to 0.
6. Fire time not equal to 0.
7. Delta error not equal to 0.

[Channel 5] [Channel 4] [Channel 3] [Channel 2]

128 96 64 32 1

[Channel 9] [Channel 8] [Channel 7] [Channel 6]

256 224 192 160
For example:
...111 ...110 ...010 ...100
guns #97, #98, #99 guns, #66, #67 fired gun #34 fired gun #3 fired

Allocated Channels
As per “Standardised Gun Channel Allocation” on page 1-7.

39-7
GUN Interfaces Manual

Syntron Gun Controller - V2

Code Name sgcv2
INT File GN_SYNTRON_V2
Group GUN

When used on the PowerRTNU or RTNµ, this interface transmits the GCS90 control string
referenced to the shot. There is no need for the additional ‘hdr gcs’ process on a separate port.
The offset from the shot is set in the RTCN (in the Interfaces window, double click on the interface
name to access the Interface Editor, then select Mode from the Options menu). Select
Interrogate Ref to Shot and enter an offset referenced to the SHOT time at which the array select
and shot number strings are sent. This is normally a negative number to ensure the strings are
sent before the shot time. The Interrogate String field can be ignored.
The data is transmitted using the following communication parameters:
9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Format No of Bytes Description
AAAAAA 6 *GCS90 id string
NNNN 4 # of bytes in block, inc CRLF
AAAAAAAN 8 Line Number
NNNNNNNNNN 10 Shot Point
XX 2 Active Array Mask
A 1 Trigger Mode ("I" = Internal, "E" =External)
YY/MM/DD 8 Date
:HH:MM:SS 9 Time
N 1 Current Sequence Number
N 1 # of Subarrays
NN 2 # of guns in array
NN 2 # of active guns
NN 2 # of delta errors in shot
NN 2 # of Auto-fires in shot
NN 2 # of Miss-fires in shot
NNN 3 Delta spread for total array (1/10 msecs)
NNNNN 5 Volume Fired
Spare 14 Spare bytes
NNNN 4 Manifold Pressure
NNNN 4 Deep Tow
The following sequence is repeated for the "# of Subarrays":
NNNN 4 Subarray String Pressure
The following sequence is repeated for ALL guns:
NN 2 Physical Port Number
A 1 Gun Mode: [A]uto, [M]anual, [S]pare, [O]ff
A 1 Detect Mode (P - Peak, Z - Zero Cross )
40-7
Interfaces Manual GUN

Format No of Bytes Description

1 Sequence Number
A 1 Auto-fire (Y-Yes, N-No)
A 1 Blank
NNN 3 Static Offset (1/10 msecs)
NNN 3 Gun Delay (1/10 msecs)
NNN 3 Fire Time (1/10 msecs).
NNN 3 Delta (1/10 msecs)
NNN 3 Depth (1/10 metres)

Note: A system with 64 guns in 8 subarrays will have:

90 + 8*4 + 64*22 = 1532 bytes in the status string (including the CRLF at the end of the
message).

Bit-Mapping of Gun Fired Data

Individual Gun Fired data is bit-mapped into 4 long words as shown below. The following 5
conditions must all be met before the Gun Fired bit is set in the relevant Gun Fired word:
1. Gun mode flag = "A" for auto.
2. Current sequence number = individual gun sequence number.
3. Autofire flag = "N" for no.
4. Gun delay not equal to 0.
5. Fire time not equal to 0.
[Channel 5] [Channel 4] [Channel 3] [Channel 2]
128 96 64 32 1

[Channel 9] [Channel 8] [Channel 7] [Channel 6]

256 224 192 160
For example:
...111 ...110 ...010 ...100
guns #97, #98, #99 guns, #66, #67 fired gun #34 fired gun #3 fired

Default Configuration
This is for 6 sub-arrays - 3 port and 3 starboard
[Port Array Fired]
LSB
Array # 6 5 4 3 2 1
Binary # 1 1 1 0 0 0

Mask = 38H (returned in channel 2 as 1).

[Starboard Array Fired]
LSB
Array # 6 5 4 3 2 1
Binary # 0 0 0 1 1 1

Mask = 07H (returned in channel 2 as 2).

If you are running an SCN, the Array Mask should be entered in the Gun Array Editor.
41-7
If you are running an SNN, the Gun interface and array mask channel should be entered in the
Gun Array Configuration form.

Example Configuration
This is for 4 sub-arrays - 2 port and 2 starboard:
[Port Array Fired]
LSB
Array # 6 5 4 3 2 1
Binary # 0 0 1 1 0 0

Mask = 0CH (returned in channel 2 as 2).

[Starboard Array Fired]
LSB
Array # 6 5 4 3 2 1
Binary # 0 0 0 0 1 1

Mask = 03H (returned in channel 2 as 1).

In this example you would set up, in the RTCN Interface Editor, Channel 1 as “Array 1=OC”
and Channel 2 as “Array 1=03”.

Single Source
If configuration is single source:
• For constant port array fired, set up “FF” in channel 1 Tx ID and “0” in channel 1 Rx ID
on the RTCN Interface Editor.
• For constant starboard array fired, set up “0” in channel 1 Tx ID and “FF” in channel 1
Rx ID on the RTCN Interface Editor.

Allocated Channels
Channel Description Notes
1-20 See “Standardised Gun Channel Allocation” on page 1-7
21 No. of Active Guns
22 No. of Delta errors in shot
23 No. of Auto-fires in shot
24 No. of Misfires in shot
25 Manifold pressure
Gun data starts in channel 26.

Options
Additional Configuration is performed via the Configuration tab of the RTCN’s Interface Editor.
Options are:
Post ‘EL’ time (Secs/10) Enable this option and enter an offset in tenths of a second from the
end of line that the EOL (End of Line) message should be sent. This
overrides the default of 10 seconds.
Interfaces Manual GUN

Long line name Normally only the last 8 characters of the line name are transmitted
at the start of the line. To transmit the entire linename, select this
option.
Incorporate ‘BL’ command Select this option to have the BL (Begin Line) message sent at the
start of the line.

43-7
TopShooter Gun Interface
Code Name topshtr
INT File GN_TOPSHOOTER
Group GUN

The normal operation of the TOPSHOOTER gun controller requires a message to be sent
from the nav system (Spectra or Gator) before each shot. This message contains information
about the next shot to fire. When the GUNS fire, the TOPSHOOTER system responds with
this gun depth and pressure data string.
With the RTNU, two separate processes are required
• downloading this interface so that it can receive the depth and pressure data
• configuring an output header to send the next shot information.
This requires two serial ports and "Y" cable construction.
However, the PowerRTNU and RTNµ Topshooter interface can carry out both of the above
tasks, so doing away with the need to run a separate header process. When downloaded to a
PowerRTNU, the Topshooter interface automatically transmits the string before the shot fires.
The time interval between the message and the shot is controlled in the "Mode" window of the
RTCN Interface Editor - select Interrogate Ref To Shot and enter an offset in millisecs (-ve to
send before shot). The Interrogate String field in this case is ignored. See the Header Manual,
Topshooter entry for output details.

Output to RTCN
ASCII string containing depth and pressure values only.
Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 2

Typical ASCII String is as follows:

P1 061999991S1 057929991
Bytes Description Form Field Channel
1–5 Subarray Name aaaaa 1 not used
6–8 Depth (dm) nnn 2 DEPTH_VALUE_OFFSET
9–10 Std on Depth (dm) nn 3 not used
11-13 Pressure (bar) nnn 4 PRESS_VALUE_OFFSET
14 Validity Flag (0/1) n 5 not used

...repeated for each subarray (8 in high Sea, 2 if Shallow)

Allocated Channel Numbers

As “Standardised Gun Channel Allocation” on page 1-7.
Interfaces Manual GUN

Notes
This interface provides only pressure and depth data, no gun timing or status data.
Depth: If unavailable = 999
Std on Depth: If unavailable = 99
Pressure: If unavailable = 999

Output Modes
For the RTNµ and PowerRTNU, the Topshooter interface has 3 output string modes available
from the RTCN. They can be selected as options via the Configuration panel of the RTCN’s
Interface Editor.

Deep Sea Format (Default)

xxxxxx<CR><LF>
where xxxxxx is the next shot number to fire.

Shallow Format
*llllssss<sp>#hhmmss<CR><LF>
where:
* Asterisk character
llll Line name
ssss Shot number (next)
<sp> Space character
# Hash character
hh Predicted shot time - hours
mm Predicted shot time - minutes
ss Predicted shot time - seconds

Shallow & Index Format

*llllssss<sp>:i<sp>#hhmmss<CR><LF>
where:
* Asterisk character
llll Line name
ssss Shot number (next)
<sp> Space character
: Colon character
i Index number (always 1)
<sp> Space character
# Hash character
hh Predicted shot time - hours
mm Predicted shot time - minutes
ss Predicted shot time - seconds

45-7
Trigun Gun Interface
Code Name trigun
trigunf2
INT File GN_TRIGUN
GN_TRIGUN_F2
Group GUN

The TRIGUN module communicates with the GUNCO or TRISOR gun controllers via a serial
communications link using RS232.
Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

The data block contains three parts. First there is a header which describes the size of the
other two parts and contains general information. Then there is a block with n records for n
guns and finally there is one or more extension blocks with pressure sensors.
Format 1: GUNCO
The size of the block is dynamically variable. Only active guns are included, so the block may
grow or shrink from shot to shot when guns are enabled or disabled on-line. The External
Header block is fixed at an allocated size, the vacant space is filled with zeroes.
Format 2: TRISOR
Format 2 includes disabled guns. See notes 3 and 11 for differences from format 1.
Byte size Name Description Notes
0 int bsize Total block size in bytes 1
2 int contid Gun controller type and version 2
4 char ngun Number of (active) guns 3
5 char nsext Number of extension blocks 4
6 char seqlen Sequence of length 5
7 char seqnum Sequence mask 6
8 int volume Volume of guns fired 7
10 int spare Reserved
12 16 bit errid Gun 1 ID and error 11
14 16 bit delayid Gun 1 ID, status and delay 12
16 16 bit offsid Gun 1 ID, status and offset 13
18 8 bit depth Gun 1 depth 14
19-25 Gun 2
etc.
Extension block format
xx char Sensor type in this block 8
Interfaces Manual GUN

Byte size Name Description Notes

xx char Number of sensors in this block 9
xx 16 bit data ID + pressure psi 10
etc.

Units: Char is 8 bit, int is 16 bit. The most significant byte comes first.
ID+Pressure word is repeated for n sensors.
Notes
1. The total block size is used by the External Header to receive the data, but is not needed for
decoding the data. The size is a minimum of 12 bytes. NB: Only 12 bits are used, the upper
4 bits are reserved for future info.
2. Gun controller flags:
Bit 15: Out-of-range status type. 0 = Standard fixed limits, 1 = spread.
Bit 14: Controller type. 0 = Gunco, 1 = Trisor.
Bit 14-0: Software version. 4 digit BCD, interpret as [Link].
3. Format 1
Number of active guns. Can be 0 to 255, variable from shot to shot. Use this number to
locate the start of the extension block. Each gun uses 7 bytes.
Format 2
Number of guns (both active and disabled). Can be 0 to 255, fixed on a given source from
shot to shot. Use this number to locate the start of the extension block. Each gun uses 7
bytes.
4. Number of extension blocks. Each extension block will define its own size and type of data.
5. Sequence of length, corresponds to number of sources. This is 1 for single source, 2 for flip-
flop, 3 for 3 sources, 4 for Quad-Quad. Gunco has a maximum sequence length of 4, Trisor
may use up to 8 sources.
6. Sequence mask. 8 bits, corresponding to 8 sources. Bit 0 is defined as source 0,
(starboard). Bit is set if any gun defined in the source has fired. Note that a source may be
defined as empty, as in Quad-Quad. Only one bit should be set in normal operation. More
than one bit set may be an error condition.
7. The total volume of the guns that fired on the last shot. Units are cubic inches.
8. Sensor type. Different sensor types can be added in the future.
Type 1: Subarray air supply pressure. Data for each sensor is 2 bytes.
9. Number of sensors recorded in this block.
10. Sensor ID: One type of sensor is currently defined, air pressure. There is only one air
pressure sensor on each subarray.
Bit 15-12: Subarry ID, see note 10.
Bit 11-0: Air pressure in psi units, range 0-4095.
All fixed parameters, like volume of individual guns and gun type, will be recorded in the
ComBase.
11. Format 1
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
g g g g g x x s e e e e e e e e

g = Gun position ID. 5 bit, 0 - 31.

x = Cluster gun no, 2 bits (only Trisor).
s = Sign bit for error. 0 = positive, 1 = negative.
e = error. 8 bit, 0 - 25.5 mS
This gun ID is the number of the gun or gun position on this subarray. For Trisor, this is the
Ultrabox number, where each Ultrabox can support a single gun or a 3 gun cluster. In the case of
47-7
a Trisor cluster, this number will be the same for all three guns. The first gun (forward) on
each subarray is gun number 1, this is coded as 0.
The Cluster gun no. is only used for Trisor.
0 = Single gun in this position
1 = Cluster gun no 1.
2 = Cluster gun no 2.
3 = Cluster gun no 3.
Error is a signed binary value, representing the difference between aiming point and sensor
fire detection point. The unit is 0.1 mS. A negative error means the gun fired early. Any error
greater than 25.5 mS will be coded as 25.5, since the actual value is then of little interest.
Format 2
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D g g g g x x s e e e e e e e e

D (disabled)
0 = Enabled Gun
1 = Disabled Gun
g = Gun position ID. 4bit, 0 - 15.
x = Cluster gun no, 2 bits (only Trisor).
s = Sign bit for error. 0 = positive, 1 = negative.
e = error. 8 bit, 0 - 25.5 mS
Further details as Format 1, above.

12.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
A Q a a a a d d d d d d d d d d

A = Autofire detect
Q = out of range
a = Subarray ID, 4 bit, 0 - 15
d = Delay. 10 bit, 0 - 102.3 mS
The subarray ID defines each gun cable. The first subarray is number 1, coded as 0, and is
on starboard side. All subarrays have a different number, if there are 6 subarrays in use they
are numbered 1 to 6.
A = 0 for a normal status, A = 1 if the autofire detection is triggered since the previous shot
(NB: This detection is not fail-safe, as a noise spike on the sensor line can cause the same
indication. Thus this is not defined as a misfire).
Q = 0 for a normal shot, Q = 1 if the error exceeds an operator selected limit. The error limit
can be tied to the aimpoint, or to the spread of the current shot. See note 2.
The delay is an unsigned binary value, representing the time from start of firepulse to the
aiming point. The unit is 0.1 mS.
13.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
M T r r r s o o o o o o o o o o
Interfaces Manual GUN

M = Fire status
T = tuning mode auto / manual
r = Source ID, 3 bit, 0 - 7
s = sign bit for offset. 0 = positive, 1 = negative.
o = Offset, 10 bit, 102.4 mS
M = 1 means no sensor signal was detected.
T = 1 is normal automatic tuning mode, T = 0 means manual tuning.
The source ID is defined as a logical group of subarrays. The first source is number 1, coded as
0, and is on starboard side.
Offset is a signed binary value, representing an operator selected offset of the aiming point for
this gun. When offset is zero, the aiming point equals time break. Positive offset will shoot late,
negative offset will shoot early. The unit is 0.1 mS.
14. Gun depth. 8 bit binary number representing gun depth in 0.1 m units. The gun depth is
measured by the hydrostatic pressuer a small distance above the gun. This distance is
compensated for. If the sensor is not active, this number is 0.0.

49-7
Interfaces Manual GYRO

Chapter 8 - GYRO
This chapter contains details of RTNU and RTNµ serial interfaces for gyro. For details of virtual
interfaces, please refer to Chapter 21 - ’VIRTUAL INTERFACES’.

4C Gyro Interface
Code Name gyro4c
INT File GY_GYRO4C
Group GYRO

The RTCN mode should be set to interrogate periodic mode, transmitting the data character "d"
(Ox64) to request gyro to send character to one decimal place. Interface can also operate in
listen only mode; in this case the RTCN mode should be set to free run.

Expected Input
ASCII input string: 2 characters containing 4 Binary Coded digits, “a,b,c,d”, making up a value in
degrees to one decimal place; “abc.d” degrees.
Char 1 Char 2
Digit a (bit 7-4) b (bit 3-0) c bit (7-4) d (bit 3-0)
Gyro Value (deg) 100s 10s 1s 0.1s

Channels Used
Channel Description Notes
1 Gyro Field degrees (xxx.x)

1-8
GYRO Interfaces Manual

Anschutz Standard 20 Gyro Compass

Code Name anscbn
INT File GY_ANSCHUTZ_STANDARD20
Group GYRO

Expected input
18 bytes of data:
b0 STX
b1 01xxxxxx 12 bit gyro heading (b1 MSByte) [111111 111111 = 360. 0]
b2 01xxxxxx
b3 01xxxxxx 6 bit course
b4 01xxxxxx magnetic course, corrected 12 bit
b5 01xxxxxx
b6 01xxxxxx magnetic course, uncorrected 12 bit
b7 01xxxxxx
b8 01xxxxxx rate of turn
b9 01xxxxxx other esoteric gyro bits
b10 01xxxxxx
b11 01xxxxxx
b12 01xxxxxx
b13 01xxxxxx
b14 01xxxxxx
b15 01xxxxxx
b16 01xxxxxx checksum (0xFF XOR (b1 to b15) AND 0x3f OR 0x40)
b17 ETX

Note: Data is a continuous byte stream. Decode relies on spotting the STX and ETX
correctly.

Allocated Channel Numbers

Channel Description Notes
1 Gyro Field.

2-8
Interfaces Manual GYRO

Black Box Gyro

Code Name bbgyro
INT File GY_BLACK_BOX_GYRO
Group GYRO

Gyro - Originally Sperry -> Synchro-to-digital convertor -> digital-to-serial convertor.

The Black Box Digital-to-Serial convertor output has the following format:
FFFFFFFFHHHH<CR><LF>
Notes:
FFFFFFFF Eight character 'F'
HHHH Heading Fraction - tenths of degrees

Example:
FFFFFFFF0453<CR><LF> reads 45.3 degrees.
This interface apparently needs to be triggered with Ctrl Q character (17 decimal), entered as
<17> (brackets needed) in the RTCN interrogate window option. In practice, however, the black
box seems to send the data approximately twice a second once triggered.

Allocated Channel Numbers

Channel Description Notes
1 Heading in Degrees

3-8
GYRO Interfaces Manual

Horizon Gyro
Code Name horizon
INT File GY_HORIZON_GYRO
Group GYRO

The data is transmitted using the following communication parameters:

19,200 Baud
8 Data Bits
1 Stop Bit
No Parity
Note: This interface should be used for Gyro and Depth values. It correctly handles multiple
gyros and multiple depths.

Expected Input
Expected Typical ASCII string is as follows:
:1GYRO1 207.60,TIME 28;11;91 02;15;07 S.P. -148 CYCLE 9.56<CR>
Description Form Col
Start Char ":" 1
TITLE 1GYRO1 2
Delimiter "" 8
Gyro Bearing [Link] 9
Delimiter "," 15
Title TIME 16
Delimiter "" 20
Day nn 21
Delimiter ";" 23
Month nn 24
Delimiter ";" 26
Year nn 27
Delimiter "" 29
Hour nn 30
Delimiter ";" 32
Min nn 33
Delimiter ";" 35
Secs nn 36
Delimiter "" 38
TITLE S.P. 39
Delimiter "" 43
Shotno nnnnnn 44
Delimiter "" 50
TITLE CYCLE 51
Cycle Time [Link] 56
Delimiter "" 63
4-8
Interfaces Manual GYRO

Description Form Col

Identifier WDEP 64.
Delimiter "" 68
Depth [Link] 69
Record Terminator <CR> 63

n = ASCII Character
Gyro value is valid between 0 and 360 inclusive.

5-8
GYRO Interfaces Manual

Lehmkuhl LR22
Code lr22
INT File GY_LR22
Group GYRO

Expected Input
4 bytes of data. MSByte of gyro reading will be read first.
Byte format:
Bit 0 Digit value lsb
Bit 1 Digit value lsb
Bit 2 Digit value lsb
Bit 3 Digit value msb
Bit 4 Digit address lsb
Bit 5 Digit address msb
Bit 6 Starboard/Port Up/Down latch
Bit 7 Starboard/Port Up/Down latch

Bits 6 and 7 are used to define whether the last pulse was an up/down pulse.
Address digits will be (in order) 11, 10, 01, 00 - MSByte first.
Decimal point implied between bytes 3 and 4.

Allocated Channel Numbers

Channel Number Description Notes
1 Gyro field

6-8
Interfaces Manual GYRO

Lehmkuhl LR40/60 & Robertson

Code Name gyro
INT File GY_LEHMKUHL_40
Group GYRO

Interface Type LR40/LR60 RS422

Robertson Serial 20mA current loop (requires current loop to RS232
converter)
Data Type BCD

Expected Input
4 bytes of data; lsbyte of gyro reading will be read first.
Byte format:
bit 0 Digit value lsb
bit 1 Digit value lsb
bit 2 Digit value lsb
bit 3 Digit value msb
bit 4 Digit address lsb
bit 5 Digit address msb
bit 6 Mode control (M1)
bit7 Mode control (M2)

M1 and M2 low indicates gyro heading data M1 and M2 high indicates special alarm.
Address digits will be 00,01,10,11.
Decimal point implied between bytes 2 and 3.

Allocated Channel Numbers

Channel Description Notes
1 Gyro field.

7-8
GYRO Interfaces Manual

NMEA Gyro
Code Name nmeagy
INT File GY_NMEA_GYRO
Group GYRO

This interface replaces the following interfaces:

Name Code name
ANSHUTZ NMEA GYRO angyr
RACAL 90927 racgyr
RGC11 (Nmea) rgc11
RGC50 rgc50gy
HEHDT nmhehdt

Expected Input
$??XXX,xxx.x,,,,,,<CR><LF> or, for HRC string, $??HRC,xxxxx,,,,,,<CR><LF>
where:
?? = anything
XXX = message type, see below
xxx.x = heading in degrees (or bearing in degrees for Fluxgate compass string)
xxxxxx = heading in 1/100ths of degrees

This interface will decode the following strings:

$??HDG e.g. $HEHDG
$??HDT e.g. $HEHDT, $RSHDT
$??VHW e.g. $HEVHW, $AGVHW
$??HRC e.g. $HEHRC
$??HCC e.g. $HEHCC,xxx.x<CR><LF> where xxx.x is gyro value in degrees
$??SVW e.g. $$HESVW,xx.x,A<CR><LF> where xx.x is water speed in knots
$PASVW water speed
$HCHDM Fluxgate Compass string

Options
The default action of this interface is to decode any of the above strings as they appear. This
means that if a particular gyro returned two strings, the data returned to the data server would
alternate between the two values.
To prevent this action, the interface can be forced to filter out unwanted strings. To do this, insert
the NMEA sentence name of the string type you want to decode into the transmit ID of Channel 1
in the interface definition of the RTCN, i.e. to decode $HEHDG type sentences only, the string
“$HEHDG” should be used.

Allocated Channel Numbers

Channel Description Notes
1 Heading
2 Speed m/s
3 Speed Knots

8-8
Interfaces Manual GYRO

RGC11S Gyro
Code Name rgc11s
INT File GY_RGC11S_GYRO
Group GYRO

Comms Parameters:
Baud 9600
Data Bits 8
Stop Bits 1
Parity None

Typical ASCII String

STX K XXX.X L XX.X ETX
where
STX = Start Character (02H)
K = Bearing
XXX.X = degrees
L = ship speed
XX.X = knots
ETX = Terminating character (0DH)

Description Form Field

Start Chars 02H 0
Bearing K 1
Degrees XXX.X 2-7
Ship Speed L 8
Knots XX.X 9-12
End Char 0DH 13

Allocated Channel Numbers

Channel Description Notes
1 Heading XXX.X
2 Speed (m/s) XX.X
3 Speed (kts) XX.X

9-8
GYRO Interfaces Manual

S.G. Brown, SGB 1000S

Code Name sgbgyro
INT File GY_SG_BROWN_GYRO
Group GYRO

The S.G. Brown Survey Compass serial output can be one of three formats:
• SGB A SCII
• Robertson
• NMEA
This interface decodes the SGB ASCII format only, which has the following format:
HHHG<CR><LF>
HHH Heading in whole degrees
G Heading Fraction - sixths of degrees

Allocated Channel Numbers

Channel Description Notes
1 Heading in Degrees

10-8
Interfaces Manual GYRO

Western Pitch, Roll & Gyro

Code Name wprg
INT File GY_WESTERN_PITCH_ROLL
Group GYRO

Expected Input
A typical ASCII string is as follows:
P+1587R-0365G+20B0CRLF
Description Form Col
Pitch Designator "P" 1
"+" / "-" "+" 2
Pitch Angle in 1/100 degs +/- 3000 1587 3
Roll Designator "R" 7
"+" / "-" "-" 8
Roll Angle in 1/100 degs +/- 3000 0365 9
Gyro Designator "G" 13
"+" "+" 14
Gyro ASCCI hex binary semicircles 20B0 15
CR CR 19
Stop Char LF 20

Allocated Channel Numbers

Channel Description Notes
1 Heading Degrees
2 Pitch Degrees
3 Roll Degrees.

11-8
Interfaces Manual LASER

Chapter 9 - LASER
This chapter contains details of RTNU and RTNµ serial interfaces for the Laser group.

MARS (Marine Angle Ranging System)

Code Name mars
INT File LS_MARS
Group LASER

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Two main output formats available: STANDARD and ENCODER. The ENCODER output offers
increased resolution of the angle measurement and the angle field is increased by one digit.

MARS ENCODER DATA OUTPUT

Bytes Format Description
1..12 DDDHHMMSS.S, Time: DAY|HOUR|MIN|SECONDS(1/10)
13..15 xx, Number of targets (Max 15)
16..18 xx, Target ID 1..15
19..25 xxxx.x, Range to target
26..33 [Link], Bearing of target
34..43 [Link], Target time
44..435 Repeat Bytes 16..43 repeated for additional targets
... <cr> Termination character

MARS STANDARD DATA OUTPUT

As for ENCODER above except that the angle field is bytes 26...32, i.e. xxxx.x
Each data field is delimited by a comma.
The interface will automatically deal with both formats.

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LASER Interfaces Manual

Channel Description Notes

9 Target 1 Range metres
10 Target 1 Bearing degrees
11 Target 1 Absolute Time [Link]
12 Target 1 Validity flag
13 Target 1 Quality Indicator
:
n - n+6 Target n (As Target 1)

2-9
Interfaces Manual LASER

MARS2 (Marine Angle Ranging System)

Code Name mars2
INT File LS_MARS2
Group LASER

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity

Data Format (SCHWARTZ Electro Optics, MARS II - Output Data For-

mat)
Data type Max length Description
Char ":" 1 Header character, marks the beginning of a new instance of
output data
String 8 Unit Serial Number
String 17 Software Revision Level
Signed float 7 Calibration Angle Offset
Signed float 6 Range Offset
Char "+" or "-" 1 Angle sign (Right hand side)
Float 4 Single Sweep Time (Seconds)
Integer 4 GMT Year(eg; 1993,1994,..,2000)
Integer 3 GMT Day of year (1-365)
Char ";" 1 Delimiter character, marks the start of a new scan data
Long int 10 Scan Sequence number
Integer 5 Number of Head corrections
Integer 2 Time at the beginning of Scan GMT Hour (0-23)
Integer 2 GMT Minutes 0-59)
Integer 2 GMT Seconds (0-59)
Integer 3 GMT Milliseconds (0-999)
Integer 2 Number of target information packets that follows (each packet
has 5 data fields)
Float 7 Field1- Target Angle
Float 6 Field2- Target Range
String 8 Field3- Zone/Target ID
Integer 1 Field4- Alarm code; 0= No alarm, 1=Target is outside its zone, 2=
No Target is attached to this zone
Long int 10 Field5- Number of scans since last target was identified with this
zone Successive Target packet data (Absolute maximum of 19
targets and 19 zones).

3-9
LASER Interfaces Manual

Notes
• The Header character ":" marks the beginning of a new data output.
• The first 9 parameters of the output data, shown above, are transmitted only once at the
end of the first scan.
• The data information related to each scan are preceded by the start of scan delimiter char-
acter ";".
• All parameters are separated by commas ",", they can be from 0 length (null) to the maxi-
mum size allowed.
• This new MARS software does not drop or reassign IDs as was the case with previous
versions.

NB: If Alarm Code is non zero, all channels for that Target are flagged invalid.

4-9
Interfaces Manual LASER

MDL Fanbeam Single Target

Code Name fanbst
INT File LS_FANBEAMST
Group LASER

Single target output format of the “MDL Lasertrack Fanbeam” on page 6-9.
Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Typical ASCII String is as follows :

xx,rrrr.r,bbb,b,lll,a,hh:mm:ss<cr><lf>
xx Buoy ID
rrrr.r Range(meters)
[Link] Bearing(degrees)
lll Level
a Accuracy
hh:mm:ss PC Clock Time

The above string is transmitted for buoy received during a particular scan.

Channels 8-13 repeated for each buoy received.

5-9
LASER Interfaces Manual

MDL Lasertrack Fanbeam

Code Name fanb
INT File LS_FANBEAM
Group LASER

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
MDL's standard Fanbeam output has one of the following structures:
• WW,RRRR,BBBB,HHMMSS,F,.......*
• WW,RRRRR,BBBBB,HHMMSS,F,.......*
The above format is repeated for each window selected to form one output string terminated by
an ASCII '*' character where:
WW Window number / target number
RRRRR Range
BBBBB Bearing (True if gyro connected, Ref ships head if not ).
HHMMSS Time
F Validity flag (1 if updated since last ouput, 0 if no update since last output)

Note: The interface will handle both 4 and 5 digit range and bearing fields, thus there is an
implied decimal point at RRRR.R / [Link] and RRR.R / BBB.B. This version ignores the
Validity flag.
Example Data:
02,1234,2354,125634,0
03,3456,2332,194534,1
04,4567,6787,185423,1
05,6789,1324,183434,0
06,3655,8765,224512,1
07,7765,4356,175636,1
08,2433,0987,083423,1
09,9876,4657,073527,1,*<CR><LF>

6-9
Interfaces Manual LASER

Channel Description Notes

10 Target 1 Bearing degrees
11 Target 1 Absolute Time [Link]
12 Target 1 Validity flag
13 Target 1 Quality Indicator (not used)
:
n - n+6 Target n (As Target 1).

Repeated for each target in input string.

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LASER Interfaces Manual

MDL MARS
Code Name mdlmars
INT File LS_MDLMARS
Group LASER

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Note: Although mdlmars is similar to mdlmarsf in terms of data string content, mdlmars
uses a different serial-data processing mechanism. The serial read functions require a
special MMARS_EMB_COUNT_MODE (see mmsrf06.c).

MARS ENCODER DATA OUTPUT

Bytes Format Description
1..12 DDDHHMMSS.S, Time: DAY|HOUR|MIN|SECONDS(1/10)
13..15 xx, Number of targets (Max 15)
16..18 xx, Target ID 1..15
19..25 xxxx.x, Range to target
26..33 [Link], Bearing of target
34..43 [Link], Target time
44.... Repeat Bytes 16..43 repeated for additional targets

Each data field is delimited by a comma.

Example Data:
317042512.3,04,01,1000.1,0001.23,042510.01,02,1000.2,
0012.34,042510.02,03,1000.3,0123.45,042510.03,04,
1000.4,0359.01,042510.04,
317042512.0,04,01,1000.1,0001.23,042510.01,02,0000.0,
0180.00,042510.02,03,1000.3,0123.45,042510.03,04,
0000.0,0180.00,042510.04,

Allocated Channel Numbers

8-9
Interfaces Manual LASER

Channel Description Notes

10 Target 1 Bearing degrees
11 Target 1 Absolute Time [Link]
12 Target 1 Validity flag (not used)
13 Target 1 Quality Indicator (not used)
:
n - n+6 Target n (As Target 1)

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LASER Interfaces Manual

MDL MARSF
Code Name mdlmrsf
INT File LS_MDLMARSF
Group LASER

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Note: Serial ASCII string, variable length, message commences with STX and terminated
with <CR>. This message is available from the MDL laser system by selecting MARS O/P
Western format. This should be used on RTNµ installations.

MARS ENCODER DATA OUTPUT

Bytes Format Description
1..12 DDDHHMMSS.S, Time: DAY|HOUR|MIN|SECONDS(1/10)
13..15 xx, Number of targets (Max 15)
16..18 xx, Target ID 1..15
19..25 xxxx.x, Range to target
26..33 [Link], Bearing of target
34..43 [Link], Target time
44.... Repeat Bytes 16..43 repeated for additional targets

Each data field is delimited by a comma.

Example Data:
<STX>317042512.3,04,01,1000.1,0001.23,042510.01,02,1000.2,
0012.34,042510.02,03,1000.3,0123.45,042510.03,04,
1000.4,0359.01,042510.04,<CR>
<STX>317042512.0,04,01,1000.1,0001.23,042510.01,02,0000.0,
0180.00,042510.02,03,1000.3,0123.45,042510.03,04,
0000.0,0180.00,042510.04,<CR>

Allocated Channel Numbers

10-9
Interfaces Manual LASER

Channel Description Notes

10 Target 1 Bearing degrees
11 Target 1 Absolute Time [Link]
12 Target 1 Validity flag
13 Target 1 Quality Indicator
:
n - n+6 Target n (As Target 1)

11-9
Interfaces Manual OBC ACOUSTICS

Chapter 10 - OBC ACOUSTICS

This chapter contains details of RTNU and RTNµ serial interfaces for OBC Acoustics. For details
of virtual interfaces, please refer to Chapter 21 - ’VIRTUAL INTERFACES’.

BATES OBC Serial Interface

Code Name batesbc
INT File OBC_BATES_ACOUSTIC
Group OBC_ACOUSTICS

The output of the BATES PC is via a Stargate multi-port serial card.

Typical acoustic packet

[Header] [Data Block 1] [Data Block 2] [Data Block n] [16 Bit CRC]
where:
[Header]
Word 1 Packet record length in bytes
Word 2 Hex value 0xBEEF
Word 3-10 Time - 64 Bit floating point.
[Data Block 1-n]
Word 1 Bay Cable Number 1-8
Word 2 Channel Number 1-480
Word 3 Time of arrival in units of 0.1 millisecs (int)
Word 4 Depth in units of 0.1 metres (int)
Word 5 Correlator Peak Amplitude
Word 6 Normalized Gain
[CRC]
Word 1 16 Bit CRC value

Allocated Channel Numbers

Channel Description Notes
1 Time Time of data from Syntron PC.
Units are UNIX based seconds.
Time not necessarily synced to GPS or UTC.
2 Number of ranges The number of ranges returned as unformatted data.
Unformatted Identifiers/Ranges OBC Raw structure format - see header file item_obc.h
(item_obcraw.h in UNIX) for details

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OBC ACOUSTICS Interfaces Manual

Sonardyne OBC Acoustic System

Code Name sonobc
INT File OBC_SONARDYNE
Group OBC_ACOUSTICS

Expected Input
$PSPGS,No Tcvrs, FIRST_TCVR_NAME, Easting, Northing, Depth,....
R,TXERNAME, No Ranges, FIRST_TPDR_NAME, FIRST_RX_TCVR, Corrected Range,...
,TS:Timestamp <CR><LF>
Example output:
$PSPGS,1,TRANS,570147.2,3196568.2,9.3,R
,TRANS,3,T05,TRANS,247.690,T04,TRANS,223.960,T06,TRANS,248.16
,TS:551984528.040
<CR><LF>

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Interfaces Manual OBC ACOUSTICS

Sonardyne RFID Tagging System

Code Name sontag
INT File OBC_SONTAG
Group OBC_ACOUSTICS

Expected Input
$PSPLL,timestamp,Asset number,Reply frequency,Turn Around Time,Type,location<CR><LF>
Most of these fields are not used and so are left empty, see example below.
Example Output
$PSPLL,,H10000,1,2, , , <CR><LF>

Allocated Channel Numbers

Channel Description Notes
1 Fields Number of fields in the command, including empty
fields.

3-10
Interfaces Manual PITCH, ROLL, AND HEAVE

Chapter 11 - PITCH, ROLL, AND HEAVE

This chapter contains details of RTNU and RTNµ Pitch, Roll, and Heave serial interfaces.

2-11
Interfaces Manual PITCH, ROLL, AND HEAVE

ATLAS DESO 20 via TSS 320B Heave Compensator

Code Name tssdeso
INT File PH_ATLAS_DESO20
Group PRH

Expected input
:IIIIII dddddd DDDDDD sHHHH sPPPP sRRRR<CR><LF>
:IIIIII dddddd DDDDDD sHHHH sPPPP sRRRR<CR><LF>
:IIIIII dddddd DDDDDD sHHHH sPPPP sRRRR<CR><LF>
where:
IIIIII Reading ID number
dddddd Depth in cm from sensor 1
DDDDDD Depth in cm from sensor 2
s Sign +/-
HHHH Heave in cm
PPPP Pitch in cm (Not used)
RRRR Roll in cm (Not used)

Example:
:000305 001014 001010 +0001 +0000 +0000<CR><LF>
:000306 001012 001011 +0000 +0000 +0000<CR><LF>
:000307 001013 001014 -0001 +0000 +0000<CR><LF>
Note: Frequency of message transmission is erratic, depending on depth and ping
frequency, so SRF may need adjustment.

Populated Channels
Channel Description Notes
4 Heave Metres
18 Depth1 Sensor 1 - Metres
19 Depth2 Sensor 2 - Metres

3-11
PITCH, ROLL, AND HEAVE Interfaces Manual

Dynamic Motion Sensor string - TSS format - Pitch, Roll and

Heading
Code Name tss
INT File PH_TSS_GEN
Group PRH

Decodes both TSS1 and TSS3 formats

Typical ASCII String for TSS1:

:XXAAAASMHHHHQMRRRRSMPPPP<CRLF>
Field Definition Range Units
: Start of packet character ASCII 3AHex
XX Horizontal acceleration 0 to 9.81 m/s2 3.83 cm/s2
AAAA Vertical acceleration -20.48 to +20.47 m/s2 0.0625 cm/s2
S Space character ASCII 20Hex
MHHHH Heave -99 to +99m 1cm
Q Status flag u, U, g, G, h, H, f, F - see below
MRRRR Roll -90o to +90o 0.01o
MPPPP Pitch -90o to +90o 0.01o
<CRLF> Carriage return and line feed (ASCII 0D and ASCII 0A hex)

M = space if positive or minus if negative. Positive heave is above datum; positive roll is port-side
up, star-board down; positive pitch is bow up, stern down.
Status flags:
Status Flag Description
U Unaided mode - Settled condition
The DMS is operating without any input from a GPS or gyrocompass system
u Unaided mode - Settling
The DMS is operating as above but is still awaiting the end of the 3 minutes settling
period after DMS power-on or a mode change.
G GPS aided mode - Settled condition
The DMS is receiving an input from a GPS receiver.
g GPS aided mode - Settling
The DMS is receiving an input from a GPS receiver but is still awaiting the end of
the 3 minutes settling period after DMS power-on or a mode change.
H Heading aided mode - Settled condition
The DMS is receiving a heading input from a gyrpcompass
h Heading aided mode - Settling
The DMS is receiving a heading input from a gyrocompass but is still awaiting the
end of the 3 minutes settling period after DMS power-on or a mode change

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Interfaces Manual PITCH, ROLL, AND HEAVE

Status Flag Description

F Full aided mode - Settled condition
The DMS is receiving an input from a GPS receiver and from a gyrocompass.
f Full aided mode - Settling
The DMS is receiving an input from a GPS receiver and from a gyrocompass buts
still awaiting the end of the 3 minutes settling period after DMS power-on or a
mode change.

Typical ASCII String for TSS3:

:RMhhhhSMHHHHQMRRRRSMPPPP<CRLF>
Field Definition Range Units
: Start of packet character ASCII 3AHex
R Identifier character for remote heave - upper case ‘R’ = ASCII 52 hex
Mhhhh Remote heave -99 to +99m 1cm
S Space character ASCII 20Hex
MHHHH Heave -99 to +99m 1cm
Q Status flag u, U, g, G, h, H, f, F - see status table for TSS1
MRRRR Roll -90o to +90o 0.01o
MPPPP Pitch -90o to +90o 0.01o
<CRLF> Carriage return and line feed (ASCII 0D and ASCII 0A hex)

M = space if positive or minus if negative. Positive heave is above datum; positive roll is port-side
up, starboard down; positive pitch is bow up, stern down.

Populated Channels
Channel Description Notes
2 Pitch Degrees
3 Roll Degrees
4 Heave Metres
5 Remote heave Degrees, TSS3 only
6 Status flag See TSS1 status table above
36 Horizontal acceleration m/s2 , TSS1 only
37 Vertical acceleration m/s2 , TSS1 only

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PITCH, ROLL, AND HEAVE Interfaces Manual

HPR309
Code Name hpr309
INT File PH_HPR309
Group PRH

Message format
The message is 32 bytes of binary data in the following format:
Field Name Size Offset Notes
Flags 1 0
Roll 2 1 12 bit 2’s complement.
Positive indicates port side up.
Resolution = 360/4096 = 0.0878906 degrees.
Range: -180.0 to 179.91 degrees
Pitch 2 3 12 bit 2’s complement.
Positive indicates bow up.
Resolution = 360/4096 = 0.0878906 degrees.
Range: -180.0 to 179.91 degrees
Heading 2 5 12 bit 2’s complement.
Positive direction is clockwise. Zero is north.
Resolution = 360/4096 = 0.0878906 degrees.
Range: -180.0 to 179.91 degrees
Transponder 1 7 0 means invalid, otherwise contains the index of the transponder.
Index
X position 3 8 16 bit 2’s complement
Positive direction is starboard
Resolution = 8192/65536 = 0.125metres
Range: -4096 to 4095.875
Y position 3 11 16 bit 2’s complement
Positive direction is forward
Resolution = 8192/65536 = 0.125metres
Range: -4096 to 4095.875
Depth 3 14 16 bit 2’s complement
Positive direction is down
Relative to ships datum.
Resolution = 8192/65536 = 0.125metres
Range: -4096 to 4095.875
Position Status 1 17 Bit 0 set when invalid position data
Not Used 1 18
# TPs 3 19 Number of transponders
Not Used 4 22
TP Spec 1 26 Bit 0 set for mobile transponder, cleared for a reference
transponder
Not Used 1 27
Not Used 1 28
Kalman Filter 1 29 Horizontal position quality, rounded to nearest metre.
Checksum 1 30 XOR on all bytes up to, but not including, this byte
Terminator 1 31 0x40
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Interfaces Manual PITCH, ROLL, AND HEAVE

Bits 0 – 5 contain. Bit 6 is only ever set on the last byte of the message, the terminating 0x40.
Multi-byte fields are received most significant byte first, i.e. the first byte contains the six most
significant bits, then the next byte contains the next most significant bits, and so on.

Populated Channels
Channel Description Notes
2 Pitch Degrees
3 Roll Degrees
6 Position Status
11 Heading Degrees
15 TP index
16 X position Metres
17 Y position Metres
18 Depth Metres
20 # TPs
21 TP spec
22 Kalman Filter

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PITCH, ROLL, AND HEAVE Interfaces Manual

MDL Trim Cube Inclinometer

Code Name mdlinc
INT File PH_MDL_TRIM_CUBE
Group PRH

MDL Trim Cube Inclinometer giving Pitch & Roll.

Expected Input
Typical ASCII String as follows
P+1587R-0365CRLF
Description Form Col
Pitch Designator "P" 1
"+" / "-" "+" 2
Pitch Angle in 1/100 degs +/- 3000 1587 3
Roll Designator "R" 7
"+" / "-" "-" 8
Roll Angle in 1/100 degs +/- 3000 0365 9
CR CR 13
Stop Char LF 14

Populated Channels
Channel Description Notes
2 Pitch Degrees
3 Roll Degrees

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Interfaces Manual PITCH, ROLL, AND HEAVE

NMEA GPPAT/PASHR Output String

Code Name ashadu
INT File PH_NMEA_GPPAT_PASHR
Group PRH

String 1 - PAT: Position and Attitude

Typical ASCII String for Position and Attitude is as follows:
$GPPAT,223924.0,3922.2871,N,12159.4503,W,+/-00253.2,121.673,+/-002.59,+/-
004.61,0.0031,0.0205,0<CR><LF>
Description Form Column
Start Chars "$GPPAT" 1
UTC Time hhmmss 8
Latitude [Link],N 17
Longitude [Link],E 29
Altitude "+","-"nnnnn.n 42
Heading [Link] 51
Pitch "+","-"nnn.n 59
Roll "+","-"[Link] 67
Attitude phase RMS error [Link] 75
Attitude baseline RMS error [Link] 82
Attitude reset flag (0 good, 1 bad) n 89
Stop Char LF 91

String 2 - POS: Position Summary

$PASHR,POS,0,6,185006.50,3722.3866,N,12159.8386,W,+/-
00006,,164,000,000,02,01,02,01,1A11<CR><LF>
Description Form Column
Start Chars "$PASHR,POS" 1
Raw/Differential n 12
[Link] SVs nn 14
UTC Time [Link] 16
Latitude [Link],N 26
Longitude [Link],W 38
Altitude (metres) nnnnn 51
CoG (degrees) nnn 58
SoG (knots) nnn 62
Vertical velocity (dec/s) nnn 66
PDOP nn 70
HDOP nn 73
VDOP nn 75
TDOP nn 78
Stop Char LF 86

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PITCH, ROLL, AND HEAVE Interfaces Manual

Populated Channels
Channel Description Notes
1 UTC Time hhmmss
2 Pitch degrees
3 Roll degrees
4 Heave degrees
11 Heading degrees
12 Latitude degrees, dec degrees
13 Longitude degrees, dec degrees
28 Altitude
29 CoG degrees
30 SoG knots
31 Vertical velocity decimetres/sec
32 PDOP
33 HDOP
34 VDOP
35 TDOP
Additional Channels:
50 No. of SVs
51 RAW/DIFF flag.

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Interfaces Manual PITCH, ROLL, AND HEAVE

NMEA PRH Interface

Code Name phnmea
INT File PH_NMEA
Group PRH

The NMEA PRH interface decodes multiple NMEA strings. Currently, the interface decodes the
following string types.
• $..SHR (e.g. $PASHR)
• $..DID (e.g. $PRDID)
• $..TRO (e.g. $PHTRO)
• $..SXN (e.g. $PSXN)

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

String Descriptions
$..SHR (e.g. $PASHR)
Typical string:
$PASHR,104218.161,7.06,T,0.63,1.97,0.01,0.073,0.073,0.049,1,1*1F
Description Form Field Channel
Start Char "$PASHR" 0
UTC Acquisition Time (s) [Link] 1 DGPS_TIME
True Vessel Heading (deg) [Link] 2 HEADING
True "T" 3 n/u
Roll(-90.00 > 90.00 Deg) [Link] 4 ROLL
Pitch (-90.00 > 90.00 Deg) [Link] 5 PITCH
Heave (-99.00 > 99.00 m) [Link] 6 HEAVE
Accuracy Roll (0.0 > 9.999 Deg) [Link] 7 n/u
Accuracy Heading(0.0 > 9.999 Deg) [Link] 8 n/u
Flag Accuracy Heading(0:No Aiding, 1:GPS n 9 n/u
Aiding,2:GPS & GAMS Aiding)
Flag IMU (0:Out,1:OK) n 10 n/u
End Char "*"
Checksum cc
Termination CRLF

[n/u = not used]

11-11
PITCH, ROLL, AND HEAVE Interfaces Manual

$PRDID
Typical string
$PRDID,[Link],[Link],[Link]<CRLF>
Description Form
Start characters “$PRDID”
Pitch angle ([Link]) -30 to +30 degrees (+ve=bow up, stern down)
Roll angle ([Link]) -30 to +30 degrees (+ve=port up, stern down)
Heading angle ([Link]) 0 to 359.99 degrees
Termination characters <CRLF>

$PHTRO
Typical string
$PHTRO,[Link],a,[Link],b*hh<CR><LF>
Description Form
Start characters “$PHTRO”
Pitch angle ([Link]) degrees
a M - bow up (decoded as +ve)
P - bow down (decoded as -ve)
Roll angle ([Link]) degrees
b B - port down (decoded as -ve)
T - port up (decoded as +ve)
hh nmea checksum
Termination characters <CR><LF>

PSXN
Typical string
$PSXN,10,011,-5.100e-2,3.880-e2,1.234e+0,,,*56<CR><LF>
Description Form
Roll (-5.100e-2) -0.051 radians
Pitch (3.880-e2) 0.0388 radians
Heave (1.234e+0 1.234 metres
Message number xx 10 for normal MRV data

Other fields are not decoded.

Roll and Pitch are converted from radians to degrees.

Populated Channels
As “NMEA GPPAT/PASHR Output String” on page 9-11 plus the Custom Quality Channel (14).
The Custom Quality channel can have the value 0 (bad) or 1 (good). Data is considered bad if
any of the following conditions are true:
• ‘Accuracy Heading’ greater than the maximum value specified by the user in the RTCN
(see below).
• ‘Flag: Accuracy Heading’ = 0
• ‘Flag: IMU’ = 0

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Interfaces Manual PITCH, ROLL, AND HEAVE

Options
The user can specify a maximum acceptable Accuracy Heading value via the Configuration panel
of the RTCN’s Interface Editor. Enable the Accuracy Heading Threshold button and enter the
appropriate value (between 0 and 9.999) in the adjacent field. If the received value exceeds this
limit then the Custom Quality channel is set to 0.

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PITCH, ROLL, AND HEAVE Interfaces Manual

Novatel Beeline
Code Name beeline
INT File PH_BEELINE
Group PRH

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity

Typical ASCII string

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
$ATTA, 929, 160940.00, B00FF, 0.318, 0.504, 294.536, 0.202, 0.000, 0.155 0.161, 0.000, 2* 2B [CR][LF]

Field Description
1 Header
2 GPS week number
3 seconds of the week
4 Receiver self test status
5 magnetic variation correction
6 Standard deviation of the mag correction
7 calculated azimuth of antenna baseline
8 calculated pitch of the antenna baseline
9 Reserved
10 Standard deviation of the azimuth
11 Standard deviation of the pitch
12 Reserved
13 attitude type (see notes)
14 checksum
15 Sentence terminator ([CR][LF])

Notes:
The message starts with a $ character and each field is delimited by a comma. The last field
(checksum) is delimited from attitude-type by an asterix.
Field 4 requires a description of 64 bits.
For field 13, attitude determination:
0 = no attitude
1 = good 2D floating solution
2 = good 2D integer attitude solution

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Interfaces Manual PITCH, ROLL, AND HEAVE

15-11
Seapath 400 Pitch & Roll Binary Format
Code Name seapth
INT File PH_SEAPATH
Group PRH

Description Index Size Type Comment

Sync character 0 1 ASCII Always "q"
Length (byte count) 1 1 unsigned 49
Token 2 1 unsigned 0-255
Time 3 4 integer 0-999999999
Latitude 7 4 integer
Longitude 11 4 integer
Height (above ellipsoid) 15 4 float
Heave 19 4 float metres
North velocity 23 4 float metres/sec
East velocity 27 4 float metres/sec
Down velocity 31 4 float metres/sec
Roll 35 4 float radians
Pitch 39 4 float radians
Heading 43 4 float radians
Status word 47 4 bit-field
Checksum 48 1 unsigned

Populated Channels
The following subset of the Standardised PRH Channel Allocation is populated:
(Consult ’Standardised PRH Channel Allocation’ for actual channel numbers.)
Channel Notes
TIME
PITCH degrees
ROLL degrees
HEAVE metres
STATUS FLAGS Bit pattern of all status values (See note 1)
HEIGHT Height above the Ellipsioid in metres
NORTH VELOCITY metres/sec
EAST VELOCITY metres/sec
DOWN VELOCITY metres/sec
HEADING degrees
LATITUDE degrees
LONGITUDE degrees
Interfaces Manual PITCH, ROLL, AND HEAVE

HORIZONTAL VELOCITY STATUS 1=Good, 0=Bad (See note 2)

HEIGHT (VERTICAL) VELOCITY STATUS 1=Good, 0=Bad (See note 2)
ROLL/PITCH STATUS 1=Good, 0=Bad (See note 2)
HEADING STATUS 1=Good, 0=Bad (See note 2)

Notes:
1. STATUS FLAGS: Bits are numbered 0-31, with bit 0=LSB. Bits are set 1=TRUE as follows:
Bit Meaning
0 Reduced horizontal position and velocity performance
1 Invalid horizontal position and velocity data
2 Reduced height and vertical velocity performance
3 Invalid height and vertical velocity data
4 Reduced roll and pitch performance
5 Invalid roll and pitch data
6 Reduced heading performance
7 Invalid heading data

2. These individual status values are obtained from the overall Status Flags described above.

Options
To force the interface to apply the age of data correction to the timestamp, select the interface in
the RTCN Interface Editor, select Update from the Options menu, click on the Configuration tab
and select the Accurate timing box.

MultiRAW mode
In normal operation, the interface returns a RAW item when it receives each message. However,
if the data is coming in at high speed, it may be desirable to throttle this back. Two options are
provided to allow this. To access them, go to the Configuration editor as described above.
Sample rate sets the number of messages (and hence RAW items) to process before publishing,
and Sample period sets the rate of production per second.
For example: a sample rate of 10 and a sample period of 2 would result in the interface publishing
10 RAW items together every 2 seconds, instead of publishing them when the data comes in.
Note: Items are published when either the sample period OR the sample rate is reached. This
means that (in the above example) if less than 10 messages arrive in less than 2 seconds, then
however many were received will be published, or if 10 messages arrive in less than 2 seconds,
they will be published immediately.
The maximum number of items published at any one time is the number set up in Sample rate.
To leave the interface running in normal mode, set either option to zero.

17-11
Seapath 200 Binary Pitch Roll Heave Heading output
Code Name sp200
INT File PH_SEAPATH_200
Group PRH

Description Index Size Type Comment

Sync Byte 0 1 unsigned 0x90 - normal
0x91 - reduced performance
0xA0 - invalid data
Header 1 1 unsigned always 0x90
Roll 2 2 integer -999 to +999 (in 0.01 degrees)
Pitch 4 2 integer -999 to +999 (in 0.01 degrees)
Heave 6 2 integer -999 to +999 (cm)
Heading 8 2 unsigned 0 to 35999 (in 0.01 degrees)

Note:
Due to the contents of the 10 byte string, and the fact that no characters can reliably be used
as a synch character, the SRF reads 19 characters each time, looping through the characters
to find a complete valid string.

TSM 5265 – Tate Bryant format

Code Name tsm5265
INT File PH_TSM_5265
Group PRH

Message format
The message is a 24-byte data string in the following format:
Byte Description Value Units Notes
0 Header LSB 0x00
1 Header MSB 0x90 9000 hex
2-9 Time 0 to 604800 Seconds Double precision float. UTC
time in seconds of the week
10 Roll LSB
11 Roll MSB +/-180 degrees 0.01 degree 2’s complement.
12 Pitch LSB
13 Pitch MSB +/-180 degrees 0.01 degree 2’s complement.
14 Heave LSB
15 Heave MSB +/-327 metres 1 cm 2’s complement.
16 Heading LSB
17 Heading MSB 0 to 359.99 degrees 0.01 degree Positive value indicates
clockwise turn, negative
indicates anti-clockwise
18 Longitudinal Velocity LSB
19 Longitudinal Velocity MSB +/-32.8 m/s 0.1 cm/s 2’s complement. Positive =
forward
20 Transverse Velocity LSB
21 Transverse Velocity MSB +/-32.8 m/s 0.1 cm/s 2’s complement. Positive =
starboard
22 Down Velocity LSB
23 Down Velocity MSB +/-32.8 m/s 0.1 cm/s 2’s complement. Positive =
down

The sense of the roll, pitch and heave outputs can be changes using the POS/MV controller
program.
The time tag in this data is UTC time in seconds of the week, with a week beginning on Sunday
morning.
The TSS variation of this format, as opposed to the Tate-Bryant, uses a different convention of
rotations for the attitude measurement.

Populated Channels
Channel Description Notes
1 Time UTC time in seconds of the week
2 Pitch Degrees
3 Roll Degrees

19-11
Channel Description Notes
4 Heave Metres
10 Down Velocity m/s
11 Heading Degrees
38 Longitudinal Velocity m/s
39 Transverse Velocity m/s

This message can be received between 1 and 200 times per second and the recommended
minimum baud rate for use with this format is 38400 baud at 100Hz.
Interfaces Manual PITCH, ROLL, AND HEAVE

Trimble Azimuth Determining Machine

Code Name tradm
INT File PH_TRIMBLE_AZIMUTH
Group PRH

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity

Typical ASCII string

$PTNL,VHD,180448.00,022798,1.273,-0.637,0.717,2.484,3.542,-0.049,2,07,1.9,M*04

VHD Format
$PTNL,VHD,time,day,azimuth, dAzimuth/dT, elevation, dElevation/dT, range, drange/dT,quality,
svs, pdop, M*checksum
Notes:
1. Quality
• 1 = autonomous GPS (Time out).
• 2 = a Float Solution: The rover is receiving CMR corrections, but hasn’t initialised yet.
• 3 = Fixed integer solution: The rover is receiving CMR corrections and has initialised.
• 4 = DGPS solution: When the rover stops receiving CMR corrections, status ‘drops’ to 4
and the last CMR correction is used for 25 seconds. If no further CMR corrections are
received, status eventually drops to 1.
2. The dAzimuth/dT is the difference in azimuth over time (current azimuth minus the previous
epoch with no filtering).
3. The dElevation/dT and dRange/dT are the same.

21-11
Trimble TANS VECTOR - Attitude Solution Packet
Code Name tvect
INT File PH_TRIMBLE_TANS_VECTOR
Group PRH

This interface decodes message type 9A - Euler Angle Attitude Solution Packet from Trimble
TANS VECTOR - GPS Attitude Determination System.
Communication is via RS422 link Channel B at 38400 Baud.

Interrogation
TANS VECTOR may be interrogated by ICC Card with the following pattern:
<DLE>0x9A<DLE><ETX>
where:
<DLE> is the ASCII "Data Link Escape" character, 1 Byte, value 0x10
<ETX> is the ASCII "End Of Text" character, 1 Byte, value 0x03

Output Format
TANS VECTOR will output the following pattern approximately every 1 second:
<DLE>0x9A..Data..<DLE><ETX> (24 Bytes in total)
where "Data" format is:
Byte Description Type Units
0-7 Time of solution Double Time of week in Secs.
8-11 Roll Float Degrees (-180 to +180)
12-15 Pitch Float Degrees (-90 to +90)
16-19 Azimuth Float Degrees (0 to 360)

Populated Channels
Channel Description Notes
1 Time Seconds
2 Pitch Degrees
3 Roll Degrees
4 Heave Metres
27 Azimuth Degrees
Interfaces Manual RADIONAV

Chapter 12 - RADIONAV
This chapter contains details of RTNU and RTNµ serial interfaces for radionav.

Argo Standard, Option 'A' & ONI

Code Name argo
INT File RN_ARGO_STANDARD
Group RADIONAV

Expected input
Standard Software Output:
N:[Link]....CRLF
e.g. 4: 1234.56 5678.91E 2345.67* 8912.34 CRLF
Option A Output
N:[Link].......CRLF
e.g. 4: 04 1234.56 067 5678.91E 123 2345.67* 277 8912.34 321CRLF
ONI Output
HH:MM:SS:DDsEEEEEEsN:[Link]....CRLF
e.g. 12:12:30:99s 3 4: 1234.56 5678.91E 2345.67* 8912.34 CRLF
H Hours
M Minutes
S Seconds
D Decimal Seconds
E Event Number
N Number of ranges
s White Space
C Smoothing Code
R Range data
Q Quality Byte
Space Normal
"E" Data fell outside tracking gate and was edited
"*" Signal response was missing or too weak to use

Allocated Channel Numbers

Channel Description Notes
1 Range 1
2 Range 2
3 Range 3
4 Range 4

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RADIONAV Interfaces Manual

Hyperfix
Code Name hfix
INT File RN_HYPERFIX_STANDARD
Group RADIONAV

Racal Hyperfix is a radio navigation system which can calculate and output either Range/Range
or Hyperbolic positioning data from fixed stations.
Each station radiates 2 spot frequencies on a time shared basis, in the range 1.6MHz to 3.4MHz.
The differences in phase of the 2 signals received from pairs of transmitting stations define lines
of position - LOPs (lines of equal phase difference). The intersection of 2 or more LOPs gives a
position fix. The receiver displays 3 patterns (each pair of transmitting stations represent a
pattern) together with their associated phase difference measurement or 'lane value'.
The area between 2 adjacent lines of zero phase difference is known as the 'lane', and on the
pattern base-line (the straight line between the 2 transmitting stations which generate the pattern)
the width of a lane is equal to half the wavelength of the radiated frequency. For a frequency of 2
MHz the lane width on the baseline would be 75 metres. The range output is given in hundredths
of a lane for each frequency.
The 2 main outputs are:
Standard Uses chain of 3 to 6 shore transmitting stations
3E Uses chain of 3 to 18 shore transmitting stations

This interface will decode both output formats.

Hyperfix 6 Pattern "Standard" Output

Expected format single 86 ASCII char block:
P1 RRRRF1 RRRRF2 P2 RRRRF1 RRRRF2 P3 RRRRF1 RRRRF2 LID1 LID2 LID1 LID2 LID1
LID2 FFF
e.g: 12 099541 400231 13 199337 500520 34 300434 600131 0106 0033 =010 0134 =009 =053
@@@<CR><LF>
P1, P2, P3 Pattern 1, Pattern 2, Pattern 3.
RRRRF1, Range in 100's of lanes frequency 1 and 2
RRRRF2
LID1, LID2 Correction figures or ambiguity resolution for 3 * F1, 3 * F2 patterns. A '0' as
1st character (left hand) of block indicates a +ve correction and a '=' indicates a
negative correction.
FFF Lock Flags. "In Lock" status encoded for each pattern pair. Note that the 3
flags are overwritten with pattern sequence identifiers (1,2 or 3) every 8th data
string.

Note: This interface does not apply correction figures to patterns.

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Interfaces Manual RADIONAV

Allocated Channel Numbers

Channel Description Notes
1 Pattern 1 F1 Data
2 Pattern 1 F2 Data
3 Pattern 2 F1 Data
4 Pattern 2 F2 Data
5 Pattern 3 F1 Data
6 Pattern 3 F2 Data

Hyperfix 16 Pattern "Mode 3E" Output

Expected Output Format:
AABC_DDDDDDL_AABC_FFFFFFL_<CR><LF>
The above 26 character ASCII block & <CR><LF> is repeated up to 8 times. Last block has no
space before <CR><LF> Channel Number
Up to 16 Patterns, in order, on Channels 1 to 16.

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RADIONAV Interfaces Manual

Racal Microfix
Code Name mfix
INT File RN_RACAL_MICROFIX
Group RADIONAV

Output string consists of the code and range for 8 remotes. The initial X-Y co-ordinates are set by
the user of the Microfix by the means of its internal processor.
Note: Code of ?? is signed as a valid code.
Typical Microfix string:
09678110201+0000000497+0000000504+001-0005+0000115000705160007121000702??
000000??000000??000000??000000??000000

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Interfaces Manual RADIONAV

Racal Pulse 8 Mk 7
Code Name p8mk7
INT File RN_PULSE8_MK7
Group RADIONAV

The standard configuration of the Pulse 8 Mk7 receiver is dual chain operation (an additional
board is required for 4 chain operation). The Mk 7 serial data output format can contain data from
more than one Pulse 8 navigation chain, maximum 12 TD's (Time Difference values) for any one
chain. TD's are in microseconds.

Message format
RIDDDMMYYHHMMSSGRI1GRI2GRI3GRI4 (31 chars)
RID Receiver ID (0 ... 999) GRI 1 Group Repetition frequency (Chain 1) 77700 µs
DDMMYY Day Month Year GRI 2 Group Repetition frequency (Chain 2) 75700 µs
HHMMSS Hour Min Secs GRI 3 Group Repetition frequency (Chain 3)
GRI 4 Group Repetition frequency (Chain 4)

...followed by 16 chars for each TD configured (up to a maximum of 12) in the following format:
GRI (1 char) Chain Stop station status (1 char) ** see Note 1
Start TD station (1 char) 1 - 7 SNR start station (2 chars) ** see Note 2
Stop TD station (1 char) 1 - 7 SNR stop station (2 chars) ** see Note 2
Start station status (1 char) ** see TD time diff (7 chars) Range in µ ** see Note 3
Note 1

Note 1: Status digit definitions:

0 Search
1 Lost signal + cycle low alarm
2 Lost signal + cycle high alarm
3 Lost signal alarm
4 Settling or data
5 Cycle low alarm
6 Cycle high alarm
7 Normal manual index operating mode
8 Normal auto index operating mode
9 Deselected

Note 2: SNR (signal to noise)

The signal to noise ratio (SNR) for each station is measured over a range of -26 db to > 6db. The
two ASCII characters used to represent the SNR can be interpreted as follows:
-26 db to -1 db are output as 26 to 01
0 db to 6 db are output as +0 to +6
> 6 db is output as > 6
Note 3: TD Range
Range received has implied decimal point: e.g. range "1234567" is converted to "12345.67".

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RADIONAV Interfaces Manual

Allocated Channel Numbers

TDs or ranges are allocated to RTCN channels by using the Tx and Rx IDs within the channel
editor of the RTCN (Real Time Configuration Node). The desired start station ID should be
entered in the Tx ID field and the stop station ID in the Rx field. GRI 1 (Northern North Sea chain)
TDs will always be allocated to the first 12 data channels, chain 2 the next 12 etc. Thus chain 1
TDs will always be returned within data channels 1..12; the actual channel that any particular TD
is returned within will depend upon the entered start and stop station IDs.
Channels 1..12 are allocated to chain 1.
Channels 13..24 are allocated to chain 2.
Channels 25..36 are allocated to chain 3.
Channels 37..48 are allocated to chain 4.

Example channel allocation and setup

Chain data for Pulse8 Northern North Sea chain
GRI 77700 microseconds
Master Stn [Link] Slave Stn [Link]
St Fergus 1 Faeroes 2
Maloy 3
Utsira 4
Unst 6

GRI 75700 microseconds

Master Stn [Link] Slave Stn [Link]
St Fergus 1 Utsira 2
Romoe 3
Krummhorn 4
Happisburgh 5

The Pulse 8 Mk7 receiver has the capability of tracking two chains, therefore if a receiver was
tracking the above two chains on patterns 1-2, 1-3, 1-4, 2-6 Northern, and 1-3, 2-3 Southern, we
could configure the following:
Channel Tx ID Rx ID Chain
1 1 2 1 Northern
2 1 3 1 Northern
3 1 4 1 Northern
4 2 6 1 Northern
12 1 3 2 Southern
13 2 3 2 Southern

Note on Pulse 8 Velocity Factor

The figure usually given is approximately 299594 km/s; converting to metres gives 299594000
m/s. Since pattern units are microseconds divide this figure by 1,000,000. Thus the VF (velocity
factor) or range conversion factor required is 299.594 to convert received pattern units to metres.

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Interfaces Manual RADIONAV

SB5 Serial Interface

Code Name sb5
Int File RN_RADIONAV_SB5
Group RADIONAV

Interface Type Serial RS232

Data Type ASCII

Expected input
SB5 output string may contain a combination of synchronization and range slots. The interface is
only currently configured to extract range slot information. The range slot has the following
format:
e number level delta state range var

e Space Field delimiter 1 ASCII char

number Slot number Channel number 2 ASCII char
level dB (99 max) Reception level 2 ASCII char
delta In meters 3 ASCII char (sign+2)
state Slot state A,B,C,D 1 ASCII char
A - locked-on
B - end of lock or beginning of break-off
C - beginning of lock-on or end of break-off
D - unlocked
range Range (2-way) in metres 7 ASCII char
var Variance of range in metres squared 3 ASCII char

Example: 0134+00A12345.62.0

Allocated Channel Numbers

Channel Description Notes
1 ... n Range fields Range channels = slot No
Slot No. + 60 AGC

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Interfaces Manual RAW GPS

Chapter 13 - RAW GPS

This chapter contains details of RTNU and RTNµ serial interfaces for RAW GPS. For details of
virtual interfaces, please refer to Chapter 21 - ’VIRTUAL INTERFACES’.

CNAV Binary RAWGPS

Code Name cnavrawg
INT File RAWG_CNAV_RAW
Group RAW GPS

This interface decodes 3 of the Raw GPS binary messages from the C&C Technologies CNAV
receiver (model 2000 & 2050). The message types that we decode are the 0xB0 (Pseudo
range), 0x81 (ephemeris) and 0x83 (ION UTC). Please note that currently the 2000 receiver
does not output the 0x83 message.
From this interface, three distinct pieces of raw data are produced:
@INTERFACE@CNAV_RAW → @RAW@CNAV_RAW:EPHEMERIS for ephemeris data.
→ @RAW@CNAV_RAW:PSEUDORANGE for pseudo-ranges.
→ @RAW@CNAV_RAW:ION_UTC for ionospheric & UTC conditions

Channels are interpreted as the number of receivers supported by the interface.

String format
All the binary mesages from the CNAV receiver follow the same protocol, as follows:
General message format:
STX U08 0x02
Preamble (1) U08 0x99
Preamble (2) U08 0x66
COMMAND ID U08
MSG LENGTH U16
MESSAGE variable
CKSUM U08
ETX U08 0x03

The data output from the receiver is in Little Endian format.

Options
To confirm a valid message has been received, by default, the interface calculates the checksum
and compares the value with the checksum contained in the message. To disable this feature,
select the interface in the RTCN Interface window and choose Update from the Options menu,
bring the Configuration panel of the interface editor to the front, then enable the nocksum mode
button.

1-13
RAW GPS Interfaces Manual

Marconi Smart Antenna Raw GPS Interface

Code Name smart_r
INT File RAWG_SMART_RAW
Group RAW GPS

This interface is used to decode the Marconi Smart Antenna CMC Binary Type 22 and 23
messages.
Type 22 message is ephemeris data and Type 23 message is Pseudo range data.
The interface will produce @RAW@RAWG_SMART_RAW:PSEUDO and
@RAW@RAWG_SMART_RAW:EPHEMERIS items only.
Use command line options to configure the Smart antenna to output the required messages.
Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

Binary message contents

Type 22: Ephemeris data
byte 1 [SOH]
byte 2 [ID #]
byte 3 [Cmp1 ID #]
byte 4 [Msg Data Length]
byte 5 bits 0..4 : SV Number
bits 5..7 : reserved
byte 6..77 Ephemeris sub-frame 1-3/words 3-10
MSB of byte 6 is the Bit 61 of sub-frame 1
As per ref: ICD-GPS-200 Rev.B, NAVSTAR GPS Space
Segment/Navigation Interface.

Type 23: Measurement Block Data

byte 1 [SOH]
byte 2 [ID #]
byte 3 [Cmp1 ID #]
byte 4 [Msg Data Length]
Bytes 5-6 Reserved
Byte 7 number of measurement blocks
Bytes 8..15 Predicted GPS time
Byte 16 bits 0..5 : SV # (0..31)
bit 6 : reserved
bit 7 : Toggle at each Ephemeris Transmission
Byte 17 SNR 0.25
Bytes 18..21 Code Phase

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Interfaces Manual RAW GPS

Bytes 22..25 Integrated Carrier Phase

bit 0-1
0 : Ready
1 : Phase Unlock
2 : Cycle Slip Detected
3 : Not Ready
bits 2-11 : Carrier Phase
bits 12-31 : Integrated Number of Cycles
Byte 26 Cycle-Slip Counter Increment by 1 every time a cycle slip is
detected during a 10ms period
Measurement block #2 as per meas. block 1
:
Measurement block #N

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RAW GPS Interfaces Manual

Seadiff Raw GPS Interface

Code Name sdfrw_g
INT File RAWG_SEADIFF_RAW
Group RAW GPS

From this interface, four distinct pieces of raw data are produced:
@INTERFACE@SDFRW_G → @RAW@SDFWR_G:ALMANAC for almanac data.
→ @RAW@SDFWR_G:EPHEMERIS for ephemeris data.
→ @RAW@SDFWR_G:PSEUDORANGE for pseudo-ranges.
→ @RAW@SDFWR_G:ION_UTC for ionospheric & UTC conditions

Channels are interpreted as the number of receivers attached. The receiver ID should be entered
in the Receiver ID field on the RTCN’s Interface Editor, and each receiver ID should be preceded
by a prefix identifying either buoy or vessel, i.e:
• If the receiver is attached to a buoy (tailbuoy or gun, etc) the ID has the format TB: <ID>,
e.g. TB:217.
• If the receiver is attached to a vessel, the ID has the format VES:
Note that:
1. Actual data is returned in the unformatted data string - not the channels.
2. Channels contain status information. For example, if viewing raw data the value returned has
3 states: 1, 0 and -1. These are interpreted as:
1 data has changed and is present;
0 data has not changed since the last update, but is present;
-1 data is not present or is invalid.

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Interfaces Manual RAW GPS

Sercel Aquarius
Code Name aquarius_g
INT File RAWG_AQUARIUS
GROUP RAW GPS

This interface supports the SVAR data format. It does not decode the SBIN format.
From this interface, four distinct pieces of raw data are produced:
@INTERFACE@AQUARIUS_G → @RAW@AQUARIUS_G:ALMANAC for almanac data.
→ @RAW@AQUARIUS_G:EPHEMERIS for ephemeris data.
→ @RAW@AQUARIUS_G:PSEUDORANGE for pseudo-ranges.
→ @RAW@AQUARIUS_G:ION_UTC for ionospheric & UTC
conditions

Channels are interpreted as the number of receivers supported by the interface. The Aquarius
interface supports only one receiver. The receiver must be set up to produce ephemeris data at
regular intervals as the interface does not request it.
Note that:
1. Actual data is returned in the unformatted data string - not the channels.
2. Channels contain status information. For example, if viewing raw data the value returned has
3 states: 1, 0 and -1. These are interpreted as:
1 data has changed and is present;
0 data has not changed since the last update, but is present;
-1 data is not present or is invalid.

5-13
Sercel NR103 Raw GPS Interface
Code Name nr103
INT File RAWG_NR103
Group RAW GPS

This interface supports data formats CDAT, DGPS and SMEAS. It does not decode the
CMEAS or the FDAT formats.
From this interface, four distinct pieces of raw data are produced:
@INTERFACE@NR103_G → @RAW@NR103_G:ALMANAC for almanac data.
→ @RAW@NR103_G:EPHEMERIS for ephemeris data.
→ @RAW@NR103_G:PSEUDORANGE for pseudo-ranges.
→ @RAW@NR103_G:ION_UTC for ionospheric & UTC conditions

Channels are interpreted as the number of receivers supported by the interface. The Sercel
NR103 inter-face supports only one receiver. The receiver ID should be entered in the
Receiver ID field on the RTCN’s Interface Editor. The ID should always be entered as “VES:”.
Note that:
1. Actual data is returned in the unformatted data string - not the channels.
2. Channels contain status information. For example, if viewing raw data the value returned
has 3 states: 1, 0 and -1. These are interpreted as:
1 data has changed and is present;
0 data has not changed since the last update, but is present;
-1 data is not present or is invalid.
Interfaces Manual RAW GPS

Trimble MS Series Raw GPS Interface

Code Name trrawg
INT File RAWG_TRIMBLE_RAW
Group RAW GPS

From this interface, four distinct pieces of raw data are produced:
@INTERFACE@TR_RAW → @RAW@TR_RAW:ALMANAC for almanac data.
→ @RAW@TR_RAW:EPHEMERIS for ephemeris data.
→ @RAW@TR_RAW:PSEUDORANGE for pseudo-ranges.
→ @RAW@TR_RAW:ION_UTC for ionospheric & UTC conditions

Channels are interpreted as the number of receivers supported by the interface.

Report Packet General Structure
Byte # Message Description
Begin Packet Header
0 STX (02h) Start Transmission
1 STATUS Receiver code status
2 PACKET TYPE Hex code assigned to the packet
3 LENGTH Single byte # of data bytes, limits data to 255 bytes.
Begin Packet Data
4-n DATA BYTES From 0-n length bytes
Begin Packet Trailer
Length + 4 CHECKSUM (status + type + length + data bytes) modulo 256
Length + 5 ETX (03h) End Transmission

Report Packet 57h RAWDATA (Pseudo Ranges)

This packet comes in separated pages. The interface waits for the full pages in the epoch before
decoding the data, up to a limit of 12 pages. It decodes the Expanded and Condensed versions
of this packet. If a page from the current epoch is lost through transmission, the interface starts
again from scratch and looks for the next message.
Report Packet 55h RETSVDATA (Satellite Info. Reports)
This packet is broken into sub-categories. Byte 4 determines the data type:
01h - Ephemeris Report
02h - Almanac Data
03h - UTC/ION Report
The exact structre of each of these report packets can be found in the Trimble MS Series
Operation Manual.
Note that
1. Actual data is returned in the unformatted data string - not the channels.
2. Channels contain status information. For example, if viewing raw data the value returned has
3 states: 1, 0 and -1. These are interpreted as:
1 data has changed and is present;
0 data has not changed since the last update, but is present;
-1 data is not present or is invalid.

7-13
Trimble TSIP 6EW Raw GPS
Code Name tsip_6ew
INT File RAWG_TRIMBLE_TSIP_6EW
Group RAW GPS

The tsip_6ew interface decodes trimble dsm (Differential Survey Module) tsip data. It is
enhanced to decode special messages added by Trimble.
The interface can generate and return:
@INTERFACE@rxvr → @RAW@rxvr:ALMANAC for almanac data.
→ @RAW@rxvr:EPHEMERIS for ephemeris data.
→ @RAW@rxvr:PSEUDORANGE for pseudo-ranges.
→ @RAW@rxvr:ION_UTC for ionospheric & UTC conditions

The interface will always decode the messages needed to generate the above items if it sees
them. However, if it has a transmit connection to the dsm then it will also poll the dsm to
generate this raw [Link] means that if the interface is used passively it will only see and
decode data for:
@RAW@rxvr:ALMANAC sporadically
@RAW@rxvr:ION_UTC sporadically
@RAW@rxvr:PSEUDO regularly
If the interface is able to interrogate the dsm then it will also generate:
@RAW@rxvr:ALMANAC regularly
@RAW@rxvr:ION_UTC regularly
@RAW@rxvr:EPHEMERIS regularly
@RAW@rxvr:PSEUDO regularly
If the interface is eavesdropping (passively) on communication between another system and
the dsm then it will see and decode whatever subset of messages the other system is
receiving from the dsm.
The TSIP messages that the interface processes are:
0x45 - Receiver Firmware Information Used internally by the interface
0x58 - Satellite System Data / Acknowledge Provides data used to generate:
@RAW@rxvr:ALMANAC
@RAW@rxvr:ION_UTC
@RAW@rxvr:EPHEMERIS
0x5B - Satellite Ephemeris Status Used by interface to work out what epehemeris is
available
0x6F - Synchronised Measurements:Provides the raw pseudo range data to generate:
@RAW@rxvr:PSEUDO: Decodes messages with subcode 1 and 3 (subcode 1 is
the standard pseudo range data available on every dsm, subcode 3 is the Western
Geophysical special pseudo range data)
0x84 - Double -Precision LLA Position and Clock BiasUsed internally by the interface
The TSIP messages the interface sends are:
0x38 - Request/Load Satellite DataUsed to request specific data. Use to ask for:
Ionospheric data
UTC data
Ephemeris for a specific satellite
Interfaces Manual RAW GPS

Should cause the dsm to return type 0x5b message containing requested information.
0x3b - Request Satellite Ephemeris StatusUsed to request satellite ephemeris summary.
Should cause the dsm to return type 0x5b message containing requested satellite ephemeris.

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Interfaces Manual RGPS

Chapter 14 - RGPS
This chapter contains details of RTNU and RTNµ serial interfaces for RGPS. For details of virtual
interfaces, please refer to Chapter 21 - ’VIRTUAL INTERFACES’.

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RGPS Interfaces Manual

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Interfaces Manual RGPS

Fugro RGPS Tailbuoy Tracking – Fugro Geotem AS

Code Name fugtb
INT File RG_FUGRO_TB
Group RGPS

The data is usually transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Expected Input
Consists of a message contained in square brackets ([ ]) terminated by <CR><LF>
Content Format Byte Comments
Start Character A1 1…1 [
System name/version A24 2…25 FUGRO RGPS V 3.01.01
Week number I4 26…29 Week no. since GPS week roll-over
Fix timetag (GPS time) F9.1 30…38 Seconds into week

The following fields are repeated for all buoys:

Content Format Unit Comments
Buoy Identifier Unit A2
Vessel-Buoy Range F8.2 (m) point to point distance ([Link])
True Bearing of Buoy- F7.3 (degrees) [Link]
Vessel
Buoy-Vessel Altitude F6.2 (m) [Link]
difference
Number of used Satellites I2 nn
HDOP F4.1 nn.n
Unit Variance F7.3
External Reliability F6.1 (m)
Variance North F7.1 (m2)
Variance East F7.1 (m2)
Variance Height F7.1 (m2)
Update rate F4.1 (s) nn.n
PRNs used I3*n
Then at the end of the message (not for each buoy):
End character A1 ]
CrLf A2 Terminator

Allocated Channel Numbers

Channel Description Notes
1-n As per “Standardised RGPS Channel Allocation” on page 1-14.

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RGPS Interfaces Manual

John Chance Buoytrak III - Digicon Format and NCS SVS5000

Tailbuoy Tracking System - Digicon/Spectra Format
Code Name jecbt
INT File RG_JECO_BUOYTRAK
Group RGPS

Note: This interface decodes both of the above formats.

The data is transmitted using the following communication parameters:
9,600 Baud
8 Data Bits
1 Stop Bit
No Parity

Expected Input
Data block consists of several messages terminated by <CR><LF>:
1st message: Number of buoys plus <CR><LF>
2nd message: Vessel position plus <CR><LF>, 70 bytes in total
3rd message: Buoy position plus <CR><LF>, 88 bytes in total
The buoy position is repeated for each buoy with the final buoy message having an ETX (0x03)
character terminating the data block. Leading zeros will be used in all data fields.

NCS SVS5000 Tailbuoy Tracking System - Digicon / Spectra Interface

It is important that the NCS system computer is configured to output Digicon/Spectra-type block,
as used originally on Polar Search in May 1993 and defined in these notes. The Digicon/Spectra-
type output does not fully comply with Buoytrack III specification. The differences are listed
below:
1. 1st message delimited by <LF><CR> (e.g. 03<LF><CR>)
2. 2nd message starts with SPACE, only 3 ID chars (e.g. _III_HHMMSS.S)
3. Complete block delimited by <CR><LF><ETX> after last messages’s <CR><LF>
4. HDOP is DOP value given
5. If buoys not polled, a message will not exist for that buoy
6. Max number of buoys is 8 (1 to 8)

Expected Input
03<CR><LF>
IIII_HHMMSS.S_SAA.AAAAA_SCCC.CCCCC_HHH.H_DDD.D_SS_SS_SS_SS_SS_SS_M<CR><LF>
IIII_HHMMSS.S_SAA.AAAAA_SCCC.CCCCC_HHH.H_DDD.D_SS_SS_SS_SS_SS_SS_M_RRRRR.R
_BBB.BBBBB<CR><LF>
Example:
06<CR><LF>
0007 234534.4 +53.456342 -034.453432 456.6 123.7 09 10 11 12 13 14 1<CR><LF>
0005 234534.4 +53.456342 -034.453432 456.6 123.7 09 10 11 12 13 14 112345.6
123.12345<CR><LF><ETX>

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Interfaces Manual RGPS

Notes:
_ SPACE char
IIII Vessel or buoy ID (0 to 7)
HHMMSS.S Time
[Link] Sign/Latitude
[Link] Sign/Longitude
HHH.H Height
DDD.D PDOP
SS Satellite ID
M Tracking mode
RRRRR.R Range
[Link] Bearing

Allocated Channel Numbers

Channel Description Notes
1 -12 As per “Standardised RGPS Channel Allocation” on page 1-14.
n - n+4 Buoy n (As buoy 1) Channels 8-12 repeated for each buoy

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RGPS Interfaces Manual

John Chance Buoytrak III - Original System

Code Name jecbto
INT File RG_JECO_BUOYTRAK_O
Group RGPS

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Data block consists of several buoy messages terminated by <CR><LF>. Each message is 53
characters in length. Each field is separated by a space (“ “) character (including the very last sat
num) Range and bearing values are padded with zeroes, while the QI and sats are padded with
spaces.
Each buoy is slotted into 4 channels. In order to cope with buoys dropping in and out, which
causes data for that buoy not to be sent, the buoy ID is matched with the ID found in the
transmitter ID of the RTCN configuration window. The ID is slotted into this channel and the
remaining 3 values after this. The Rx ID and Tx ID of the 3 remaining channels may left as
"none".

Expected Input
TTTTT_II_RRRR.R_BBB.BBBBB_QQ.QQ_aaa_bb_cc_dd_ee_ff_<CR><LF>
Example:
63877 55 0536.4 229.86456 1.77 26 23 17 16 6 0
This message is repeated for each consecutive buoy.
Notes:
_ SPACE (“ “) char
TTTTT Time
II Buoy Identification (Unit Number)
RRRR.R Range (metres)
[Link] Bearing (degrees)
[Link] Quality Indicator
aaa Satellite ID
bb Satellite ID
cc Satellite ID
dd Satellite ID
ee Satellite ID
ff Satellite ID

Allocated Channel Numbers

Channel Description Notes
1 -12 As per “Standardised RGPS Channel Allocation” on page 1-14.
n - n+4 Buoy n (As buoy 1) Channels 8-12 repeated for each buoy

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Interfaces Manual RGPS

PGS John E. Chance III Format

Code Name pgsbt
INT File RG_PGS_BUOYTRACK
Group RGPS

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Data block consists of up to 12 buoy messages terminated by <CR><LF>. The data blocks are
preceded by <STX> and terminated by <ETX>. When buoys drop out the <CR><LF> is still
transmitted. Each buoy message is 53 characters in length and consists of target ID, range,
bearing, quality, and satellite numbers.
Each buoy is slotted into 4 channels. In order to cope with buoys dropping in and out, which
causes data for that buoy not to be sent, the buoy ID is matched with the ID found in the
transmitter ID of the RTCN configuration window. The ID is slotted into this channel and the
remaining 3 values after this. The Rx ID and Tx ID of the 3 remaining channels may left as
"none".

Expected Input
TTTTT_II_RRRR.R_BBB.BBBBB_QQ.QQ_aaa_bb_cc_dd_ee_ff_<CR><LF>
Example:
<STX> 02241 04 1498.3 148.37187 2.48 25 22 14 12 14 0<CR><LF>
02141 05 1298.3 148.37187 2.48 25 21 16 11 15 0<CR><LF><ETX>
Notes:
_ SPACE (“ “) char
TTTTT Time
II Buoy Identification (Unit Number)
RRRR.R Range (metres)
[Link] Bearing (degrees)
[Link] Quality Indicator
aaa Satellite ID
bb Satellite ID
cc Satellite ID
dd Satellite ID
ee Satellite ID
ff Satellite ID

Allocated Channel Numbers

Channel Description Notes
1 -12 As per “Standardised RGPS Channel Allocation” on page 1-14.
n - n+4 Buoy n (As buoy 1) Channels 8-12 repeated for each buoy

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RGPS Interfaces Manual

RTVEC
Code Name rtvec
INT File RG_RTVEC
Group RGPS

Expected Input
The interface understands two NMEA-format strings:
$RTSOL ? Latitude, longitude, and height solution for each remote.
Format:
$RTSOL,gpstime,R#,phi,lamda,ht,sdh,sdv,ve,vn,vh,nsats,S/K,qf,dd_dop,status*XX
Where:
gpstime Solution time in GPS seconds of the week. This position may be latent by the
time estimated in the RTSIO records (latency)
R# This indicates the remote number (i.e. R1, R2 ?)
phi Latitude in decimal degrees.
lamda Longitude in decimal degrees.
ht Height in metres
sdh Horizontal standard deviation (1 sigma) in metres.
sdv Vertical standard deviation in metres.
ve,vn,vh East, North, and Vertical velocity in m/s. Vehicle track can be computed from the
ve and vn quantities (e.g. atan2(ve,vn)).
nsats Number of satellites used in the solution.
S/K Static (S) or Kinematic (K).
qf Quality factor: 1=best, 6=worst, 7=no RTK solution.
dd_dop Double difference DOP PDOP^2.
status 0=no solution, 1=single point, 2=DGPS, 3=RTK, 4=RTK (errors).
XX Checksum (hex). Same definition as NMEA (bitwise XOR between and not not
including the $ and *).

$RTVEC ? Local level vector solution for each remote.

Format:
$RTVEC,gpstime,R#,east,north,up,sdhz,sdv,S/K,nsats,qf,status*XX
Where:
gpstime Solution time in GPS seconds of the week. This position may be latent by the
time estimated in the RTSIO records (latency)
R# This indicates the remote number (i.e. R1, R2 ?)
east East coordinate value with respect to master station (metres).
north North coordinate value with respect to master station (metres).
up Vertical coordinate value with respect to master station (metres).
sdh Horizontal standard deviation (1 sigma) in metres.
sdv Vertical standard deviation in metres.
nsats Number of satellites used in the solution.
S/K Static (S) or Kinematic (K).
qf Quality factor: 1=best, 6=worst, 7=no RTK solution.
status 0=no solution, 1=single point, 2=DGPS, 3=RTK, 4=RTK (errors).
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Interfaces Manual RGPS

XX Checksum (hex).

These strings must be received in pairs, i.e. one $RTSOL string followed by one $RTVEC string
per buoy.

Channel Allocation
The two strings will be decoded into the standardised RGPS channel layout:
Channel Description Notes
1 -42 As per “Standardised RGPS Channel Allocation” on page 1-14.

The interface samples the data stream for 2 seconds and then processes the data received. If it is
necessary to change the sample period, open the RTCN's 'Update' window for the interface and
click on the 'Configuration' tab. Select the checkbox for the 'Period' option and enter the desired
sample period in seconds

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RGPS Interfaces Manual

Seatrack Tailbuoy Tracking System - Seatex AS

Code Name seatrk
seatrk_sgl
INT File RG_SEATRACK
RG_SEATRACK_SGL_BUOY
Group RGPS

N.B.: This interface replaces the Ocean Tailbuoy Tracking System.

The data is transmitted using the following communication parameters:
9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Original format: 12 buoys possible - IDs S1 to S9 and SA, SB & SC (oceantb), or G1 to G9 and
GA, GB, & GC.
New format: 24 buoys possible - IDs 01 to 24
Hi-res ProTrack version - High precision version of string extends range, bearing and altitude
delta by two decimal places each.
The SGL interface handles seatrack messages with only a single buoy ID in the message.

Expected Input
Tailbuoy Relative GPS Fix Format, described below.
Consists of a single data block terminated by <CR><LF>:
Data Format
Name Format ProTrack version
GPS Triggered Measurement Time [Link]
Buoy ID Sn or Gn or *nn
Range in metres nnnnn.n [Link]
Bearing in degrees [Link] [Link]
*Altitude delta nnn.n [Link]
*Number of Satellites used nn
*RGDOP nn.n
<CR><LF>

* Type 2 strings only

Notes:
a this could be 1 to 9 & A, B or C
n decimal character
S, G Buoy Label

Example
000111.11S112345.7360.000100.00101.9
S299999.9180.000999.99010.1
S284736.6253.000273.97860.2
S299999.9180.000999.99010.1<CR><LF>
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Interfaces Manual RGPS

Options
If the Seatrack system is configured to output a string per buoy (rather than a string containing
multiple buoys), it is possible that individual buoy data may be lost depending on the update rate
of the messages. To get around this problem, the Seatrack interface has a ‘Sample Period’ option
within the Configuration section of the RTCN interface editor which allows it to collect multiple
messages. To enable this option, select the interface in the RTCN Interface window and choose
Update from the Options menu, bring the Configuration panel of the interface editor to the front,
then select the Sample Period button and, in the adjacent field, enter the preferred sample period
in milliseconds.

Allocated Channel Numbers

Channel Description Notes
1 - 26 As per “Standardised RGPS Channel Allocation” on page 1-14.

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RGPS Interfaces Manual

SeaPro RGPS
Code Name rgseapro
INT File RG_SEAPRO
Group RGPS

Multiple ASCII comma separated strings – one for each buoy. On receipt of each Seapro
message, this interface responds with the following string...
*,NavMode,GeogLineNum,Sequence,LineBearing,LineNameXX<CR><LF>
where...
NavMode 7 for Online/Leadin/Runout, 0 otherwise
GeogLineNum the line sequence number from the LMN
Sequence Same as GeogLineNum
LineBearing Bearing of the current line
LineName just that.
XX Checksum
<CR><LF> Carriage return, Linefeed characters

Fields are zeroed during offline, i.e. offline, string sent is...
*,0,0,0,0XX<CR><LF>
IMPORTANT NOTE: This operation is only available when the interface is running on a
PowerRTNU. On all other platforms (RTNu & RTNU), the offline string is sent at all times.

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop Bit 1

Typical ASCII String

*,4,58044.883,58044.199,1,6821.60,178.7632,31.457,0,8,0,1.629,1.967,2.488,1.233,3.134,5.16
2,7,4,7,8,10,13,24,27,1F
Description Form Field Channel
Start Char "*" 0
Buoy Number nnn 1 ID_OFFSET
Acquisition Time (s) [Link] 2 ABSTIME_OFFSET
Calculation Time (s) [Link] 3 n/u
Position Status n 4 see Notes
Range(m) [Link] 5 RANGE_OFFSET
Bearing(m) [Link] 6 BEARING_OFFSET
Altitude(m) [Link] 7 ANT_HEIGHT_OFFSET
Quality n 8 n/u
Mode n 9 n/u
Differential n 10 QUALITY_OFFSET
GDOP [Link] 11 RGDOP_OFFSET

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Interfaces Manual RGPS

n/u = not used

Allocated Channel Numbers

As “Standardised RGPS Channel Allocation” on page 1-14.

Notes
In this interface the Acquisition Time of the latest message is normally used for timestamping. If
difference between RTNU Time and Message Time is > 8 Secs, use RTNU Time for
Timestamping.
The Position Status is used to determine the validity of the Range, Bearing and Antenna Height
received. If < 1 then flagged as INVALID.
Values for the differential field are 0 or 1. (0 = Natural, 1 = Differential)

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RGPS Interfaces Manual

SkyTrac II GPS Remote Tailbuoy Tracking System: Trimble

Tailbuoy Output Format
Code Name trimtb
INT File RG_TRIMBLE_TB
Group RGPS

$0730101300120101.222322456.22N1112522.12E01.201006000.66100.123_
02005000.00101.23400.203005600.78103.34501.704007000.00104.12304.7*77

Expected Input
Expected input consists of a single data block terminated by <CR><LF>:
Description Format Char
$ (ASCII 34) A 1
Record Length DDD 2-3
Vendor ID (01=TNL) AA 5-6
Spheriod/Datum 01 = WGS84 AA 7-8
UTC fix Time [Link] 9-21
Vessel latitude [Link] 22-31
Vessel longitude [Link] 32-42
Vessel horizontal Position RMS error DD.D 43-46
This section is repeated for each buoy
Tailbuoy ID DD 47-48
Tailbuoy range in metres [Link] 49-57
Tailbuoy bearing in degrees true [Link] 58-64
Tailbuoy horizontal position RMS error DD.D 65-68
The following Section appears once, at the end of the record:
CKSum EXOR on char 2-* inclusive ADD 69-71

Allocated Channel Numbers

Channel Description Notes
1 -12 As per “Standardised RGPS Channel Allocation” on page 1-14.
n - n+4 Buoy n (As buoy 1) channels 8-12 repeated for each buoy

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Interfaces Manual RGPS

Topkart Tailbuoy
Code Name topkart
INT File RG_TOPKART
Group RGPS

Data format
ASCII message of variable length
Field Format Description Unit
[ c Beginning of message
xx 2d Record Identifier (02)
xx 2d Format Version (01)
xx 2d Nav. Point No. (Ident of the buoy)
aaaaaaaaaa 10c System name
xxxx 4d Week Number
xxxxxxx.x 9.1f Fix Time Tag (second into week) seconds
xx.x 4.1f Age of Range seconds
xx 2d RGPS Mode (0:CODE, 1:FLOAT, 2:LAMBDA
[Link] 8.2f Horizontal Range metres
[Link] 9.4f Bearing degrees
[Link] 6.2f Height Difference (height of the remote antenna metres
minus the height of the reference antenna)
xxx.x 5.1f HDOP
xxx.x 5.1f VDOP
[Link] 6.2f Unit Variance
[Link] 6.2f Variance dLat m2
[Link] 6.2f CoVariance dLat/dLon m2
[Link] 6.2f Variance dLon m2
[Link] 6.2f Variance dHeight m2
xxxx.x 6.1f External Reliability metres
xx 2d Fix Status (0:No or Bad Fix, 1:Altitude Aiding,
2:Altitude Hold, 3:3D Fix)
xxx 3d No. of Satellites used
xxx 3d Sats. used PRNs
] c End Character
CrLf 2c Carriage Return Line Feed

This message is repeated for each buoy

Allocated Channel Numbers
Channel Description Notes
1 -42 As per “Standardised RGPS Channel Allocation” on page 1-14.

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RGPS Interfaces Manual

Western Darts Tailbuoy Interface

Code Name wdart
INT File RG_WESTERN_DARTS
Group RGPS

This interface replaces ‘skydarts’.

The data is transmitted using the following communication parameters:
9,600 Baud
8 Data Bits
1 Stop Bit
No Parity

Expected Input
BBB.BBBB_RRRR.R_BBB.BBBB_RRRR.R_BBB.BBBB_RRRR.R_BBB.BBBB_RRRR.R_BBB.
BBBB_RRRR.R_BBB.BBBB_RRRR.R_HHMMSS<CR><LF>
Notes:
[Link] = Bearing
RRRR.R = Range
HHMMSS = Time
Example:
204.9983.3488.1 208.2842 3473.7 210.7598 3220.5 211.5863 3470.9
213.2366 3473.8 216.5223 3488.2 170722<CR><LF>

Allocated Channel Numbers

Channel Description Notes
1 -12 As per “Standardised RGPS Channel Allocation” on page 1-14.
n - n+4 Buoy n (As buoy 1) channels 8-12 repeated for each buoy

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Interfaces Manual RGPS

Western Geco RGPS Interface

Code Name rggeco
INT File RG_GECO
Group RGPS

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity

Typical ASCII String

[020102TTRACK2.6 22 46809.4 1.2 3404.2 241.4523 -2.2 1.6 2.1 0.933
122334455555555556666777777777888899999999AAAAAAAAABBBBBCCCCCDDDDDEEEEEE
2.123 0.726 1.654 0.912 12.1 3 5 31 26 17 02 19]<CR><LF>
FFFFFFGGGGGGHHHHHHIIIIIIJJJJJJKKLLLMMMNNNPPPQQQRRRSTU

Expected Input
Consists of a message contained in square brackets ([ ]) terminated by <CR><LF>
Description Format Field
Start character A1 “[“ 1
Record identifier I2 “02” 2
Format version I2 “02” 3
Range/Bearing no. I2 1,2,3,... 4
System name A10 5
Week number I4 (since AUg 21 1999) 6
Fix time tag F9.1 (seconds into GPS week) 7
Age of fix F4.1 (seconds) 8
Range F8.1 (metres) 9
Bearing F9.4 (degrees: 0.0000-359.9999) 10 (A)
Height difference F5.1 (metres) 11 (B)
HDOP F5.1 12 (C)
VDOP F5.1 13 (D)
Unit variance F6.x 14 (E)
Variance dLat F6.x (sq metres) 15 (F)
Covariance dLat/dLon F6.x (sq metres) 16 (G)
Variance dLon F6.x (sq metres) 17 (H)
Variance dHeight F6.x (sq metres) 18 (I)
External Reliability F6.1 (metres) 19 (J)
Fix Status I2 (0-7: see below) 20 (K)
No. of Satellites used I3 21 (L)
Sats used PRNs I3*n 22-26 (M-R)
End Character A1 “]” 27 (S)
CRLF A2 28,29 (TU)

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RGPS Interfaces Manual

Fix Status
Status Code Meaning
Single Frequency
0 No fix or Bad fix
1 Altitude aiding (weighted height used in fix)
2 Altitude hold (2D fix)
3 3D fix
Dual Frequency (4 added to above values when using dual frequency measurements)
4 No fix or Bad fix
5 Altitude aiding (weighted height used in fix)
6 Altitude hold (2D fix)
7 3D fix

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Western Tailbuoy (NCS SVS-5000 rGPS)

Code Name wtb
INT File RG_WESTERN_GPS_TB
Group RGPS

The data is transmitted using the following communication parameters:

9,600 Baud
8 Data Bits
1 Stop Bit
No Parity
Data block consists of up to 12 buoy messages terminated by <CR><LF>. The message blocks
are preceded by a time field. Each Buoy message is 27 characters in length and consists of
Target ID, Rng, Brg, Delta Altitude, nSats & GDOP.
Each buoy is slotted into 4 channels. In order to cope with buoys dropping in and out, which
causes data for that buoy not to be sent, the buoy ID is matched with the ID found in the
transmitter ID of the RTCN configuration window. The ID is slotted into this channel and the
remaining 3 values after this. The Rx ID and Tx ID of the 3 remaining channels may left as ‘none’.

Expected Input
i.e: | Target 1 | Target 2 | etc
[Link].G.......<CR><
LF>
Example:
142319.34S103456.7187.645003.20603.7S403467.6186.456003.20603.7.............<CR><LF>
Notes:
[Link] Time
II Buoy Identification (Unit Number) Alphanumeric.
RRRRR.R Range (metres)
[Link] Bearing (degrees)
AAA.A Delta Altitude (Vessel - TB)
SS n Satellites
GG.G Relative GDop

Allocated Channel Numbers

Channel Description Notes
1 -12 As per “Standardised RGPS Channel Allocation” on page 1-14.
n - n+4 Buoy n (As buoy 1) channels 8-12 repeated for each buoy

19-14
Interfaces Manual RTCM

Chapter 15 - RTCM
This chapter contains details of RTNU serial interfaces for RTCM. For details of virtual interfaces,
please refer to Chapter 21 - ’VIRTUAL INTERFACES’.

Seadiff RTCM Interface

Code Name sdfrw_r
INT File RTCM_SEADIFF_RAW
Group RTCM

From this interface, one distinct piece of raw data is produced:

@INTERFACE@SDFRW_R → @RAW@SDFRW_R:RTCM for RTCM data.

Channels are interpreted as the number of stations. From version 8.7.4. of Spectra, the station
IDs are allocated in the SCN. For previous releases, or for Gator, the station ID should be entered
in the Station ID field on the RTCN’s Interface Editor.
Note that:
1. Actual data is returned in the unformatted data string - not the channels - therefore the Raw
button for this interface (in the RTCN’s Interface Editor) must be on at all times.
2. Channels contain status information. For example, if viewing raw data the value returned has
3 states: 1, 0 and -1. These are interpreted as:
1 data has changed and is present;
0 data has not changed since the last update, but is present;
-1 data is invalid.

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RTCM Interfaces Manual

Sercel Aquarius RTCM Interface

Code Name aquarius_r
INT File RTCM_AQUARIUS
Group RTCM

This interface decodes the SVAR data format.

From this interface, one distinct piece of raw data is produced:
@INTERFACE@AQUARIUS_R → @RAW@AQUARIUS_R:RTCM for RTCM data.

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Interfaces Manual RTCM

Sercel NR103 RTCM Interface

Code Name nr103_r
INT File RTCM_NR103
Group RTCM

From this interface, one distinct piece of raw data is produced:

@INTERFACE@NR_103_R → @RAW@NR103_R:RTCM for RTCM data.

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RTCM Interfaces Manual

RTCM 104
Code Name rtcm104
INT File RTCM_RTCM104
Group RTCM

From this interface, one distinct piece of raw data is produced:

@INTERFACE@RTCM → @RAW@RTCM:RTCM for RTCM data.

RTCM Format Variations

The interface may be configured by selecting it in the RTCM Interfaces window, selecting Update
from the Options menu, and clicking on the Configuration tab. The following options are available.
Termination Set to one of Carriage return, Carriage return + Linefeed or None
Type set to either 6 of 8 or 8 of 8
Bitroll on or off
Message Size The default is 200. Use this field to reduce the number of bytes the interface
tries to receive if the incoming data has a very slow update rate or if there is
only a few correction stations being transmitted.
Flush Type1 & Enabling this option forces the interface to flush any existing Type1 or Type2
Type2 messages out of its structures prior to decoding a new set of Type1 or Type2
messages. By default, it the interface keeps track of corrections for all
satellites for which corrections have been received, even those satellites
which are no longer visible. Therefore, the interface can return corrections
for satellites which are no longer valid. This option prevents these out of date
corrections being passed back to the Nav system by the interface.

These must be set up to match the format of the data you are using. The default setup, which
should be used in most cases is…
Termination Carriage Return
Type 6 of 8 data bits
Bitroll Bitroll selected
Message Size 200

This system replaces the old method of entering hexadecimal numbers in the transmit ID of
channel 1. The old method is no longer supported by the interface.

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Interfaces Manual RTCM QC

Chapter 16 - RTCM QC
This chapter contains details of interfaces for RTCM QC. These interfaces are used in
conjunction with the SPN/SPCN Nodes. For details of other virtual interfaces, please refer to
Chapter 21 - ’VIRTUAL INTERFACES’.

RTCM QC Interface
Code Name n/a
INT File RTCMQC_V_STD
Group RTCM QC + VIRTUAL

This interface is used in conjunction with the SPN/SPCN Nodes. The SPCN can be configured to
generate a primary receiver solution using a set of RTCM reference stations. For each RTCM
reference station in the set it will also produce a solution using only data from the individual
reference station. To allow QC of these single RTCM station solutions the SPCN will output
information as an @RAW@ data item for each of these single stations.
In the RTCN, a virtual interface of type RTCM QC should be created for each station for which
QC is required. Select RTCMQC_V_STD and then rename this to be the same name as the
station. An example might be 'Aberdeen' or 'Girdle Ness'.
If the SPCN detects any interfaces with the same name as the RTCM station then it will publish
QC data through this interface.

Allocated Channels
Channel Description Notes
1 Rx time
2 Latitude
3 Longitude
4 Height wrt Datum
5 Height Datum
6 SD Latitude
7 SD Longitude
8 SD Height
9 North Velocity
10 East Velocity
11 Vertical Vel
12 CMG
13 Bottom speed
14 Heading
15 Pitch
16 Roll
17 Heave
18 GDOP

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RTCM QC Interfaces Manual

Channel Description Notes

99 E [Link] co-var.
100 [Link] variance
101 Size of sat block

Per satellite block contains:

Channel Description Notes
102 Unit #1 Sat Status
103 Unit #1 Sat Health
104 Unit #1 Sat Elevation
105 Unit #1 Sat Azimuth
106 Unit #1 Sat PR
107 Unit #1 Sat SD
108 Unit #1 Sat CP
109 Unit #1 Sat SNR
110 Unit #1 IODE
111 Unit #1 Residual
112 Unit #1 Sat W-Test
113 Unit #1 Sat MDE
114 Unit #1 PR Age
115 Unit #1 Correction Applied
116 Unit #1 RTCM T1 Age
117 Unit #1 RTCM T1 IODE
118 Unit #1 RTCM T1 Correction
119 Unit #1 RTCM T2 Age
120 Unit #1 RTCM T2 IODE
121 Unit #1 RTCM T2 Correction
122 Unit #1 Correction SD
123 Unit #1 Correction Residual

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Interfaces Manual SPEED

Chapter 17 - SPEED
This chapter contains details of RTNU and RTNµ serial interfaces for speed.

Standardised Speed Channel Allocation

All interfaces return data in the following channels. Most interfaces will not use all the channels;
the unused ones will be marked as invalid. In addition to these standard channels, the individual
interfaces may have additional custom channels set up.

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SPEED Interfaces Manual

Applied Microsystems SVP-16 Sound Velocity Profiler

Code Name svp
INT File SP_SVP16
Group SPEED

Data Format
-aaaa.a,-bbbb.b,-cccc.c<CR><LF>
Where:
‘-‘ minus signal which is left as ‘ ‘ (space) if positive.
aaaa.a Depth
bbbb.b Speed
cccc.c Temperature

Data is normally returned on a software trigger ‘S1’.

Allocated Channel Numbers

Channel Description Notes
1 Depth
2 Velocity
3 Temperature

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Interfaces Manual SPEED

Doppler Finder (Colour) JLN-615 Speed Log

Code Name speed
INT File SP_DOPPLER_LOG
Group SPEED

Expected Input
STX
Dxxxx<CR><LF>
Jxxxxxxxxxxxxxxxxxxxxxxxxxxx<CR><LF>
Kxxxxxxxxxxxxxxxxxxxxxxxxxxx<CR><LF>
Lxxxxxxxxxxxxxxxxxxxxxxxxx<CR><LF>
Mxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx<CR><LF>
VxxxSSSSxxxxxxxxxxxxxx<CR><LF>
ETX
Where SSSS is assumed to be the log velocity in knots, with an implied decimal point between
the 3rd and 4th characters. This hypothesis is based on the log output and is still to be confirmed.

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SPEED Interfaces Manual

Galatee Mk3 Speed Log - NMEA Sentence

Code Name gal
INT File SP_GALATEE_MK3
Group SPEED

Expected Input
$VMN01,[Link],*YY$<CR><LF> Lengthwise speed
$VMN02,XXX.X,*YY$<CR><LF> Lengthwise range
$VMN03,[Link],*YY$<CR><LF> Athwartship speed
$VMN04,[Link],*YY$<CR><LF> Resulting speed
$VMN05,XXXX,*YY$<CR><LF> Drift angle

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Interfaces Manual SPEED

NMEA Speed Log

Code Name nmspeed
INT File SP_NMEA_SPEED
Group SPEED

This interface replaces:

• Consilium Marine Speed Log
• EML Speed Log
• Furuno Speed Log
• Sagem Speed Log
• Sperry Furuno Speed Log

Expected Input
This interface decodes the following string types:
• VHW
• VTG
• VBW
• VLW
• VSD
• MWV
$xxVHW,aaa.a,T,[Link],M,[Link],N,[Link],K
$xxVTG,aaa.a,T,[Link],M,[Link],N,[Link],K
[Link] Heading degrees true
[Link] Heading Units degrees magnetic
[Link] Speed through Water knots
[Link] Speed through Water km per hour

$xxVBW,[Link],[Link],A,[Link],[Link],A
[Link] Longitudinal water speed in Knots
[Link] Transverse water speed in Knots
[Link] Longitudinal ground speed in Knots
[Link] Transverse ground speed in Knots

$xxVLW,[Link],N,[Link],N
[Link] Total distance travelled
[Link] Distance travelled since last reset

$xxVSD,[Link]
[Link] Speed through Water in 10-knot increments

$xxMWV,[Link],R,[Link],N
[Link] Wind direction in degrees
[Link] Wind speed in knots.

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SPEED Interfaces Manual

Since not all strings return data to fill all the channels, a note is kept of how long it has been since
each channel was last updated. If the data for a channel becomes too old (currently it must be
updated at least once every five strings), the data is flagged as bad, although it remains in the
channel.

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Interfaces Manual SPEED

Odom WG-1100A Velocimeter

Code Name wodom
INT File SP_WG_ODOM_1100A
Group SPEED

Serial message output

Event # nnn
Space ''
Velocity nnnnn
Terminator <CR><LF>

Returned Channels
Channel Description Notes
1 Water Speed m/s
2 Water Speed Knots
3 Heading 1 Degrees
4 Speed Depth
5 Wind Speed Knots
6 Wind Heading Degrees
7 Distance
8 Distance since Reset
9 Event #1
10 Velocity

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SPEED Interfaces Manual

Valeport Speed Serial Output String

Code Name valeprt
INT File SP_VALEPORT
Group SPEED

The data is transmitted using the following communication parameters:

4,800 Baud
8 Data Bits
1 Stop Bit
No Parity
COM1 Output

Expected Input
This interface automatically decodes three string types:
String Format 1
X=Sx.xxx_Y=Sy.yyy_<CR><LF>
where:
S Sign +/-
[Link] X axis velocity – Knots
[Link] Y axis velocity – Knots
_ Space

e.g: X=+2.555 Y=-0.002 CRLF

String Format 2
S=[Link]=[Link]=[Link]=[Link]=[Link]<CR><LF>
where:
S Character “S” – denotes speed value
[Link] Speed value in m/s
D Character “D” – denotes depth value
[Link] Depth value in metres
P Character “P” – denotes pressure value
[Link] Pressure value
T Character “T” – denotes temperature value
[Link] Temperature in Degrees C
C Unknown
[Link] Unknown

e.g: S=4.123D=9.234P=2.334T=2.345C=2.112<CR><LF>
String Format 3
[Link]<tab>[Link]<CR><LF>x & y values in knots or
[Link]<tab>[Link]<CR><LF>x & y values in m/s
where
s Sign character (‘+’ or ‘-‘)
[Link] X-axis Velocity
<tab> Tab character
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Interfaces Manual SPEED

[Link] Y-axis Velocity

Options
The interface may configured to expect input in knots rather than m/s. To do this, select the
interface in the RTCN Interface Editor, select Update from the Options menu, click on the
Configuration tab and select the Data is in Knots box. Incoming data will be converted to m/s
before being returned.

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SPEED Interfaces Manual

Yacht YL300 Speed Log

Code Name yacht
INT File SP_YACHT_YL300
Group SPEED

The data is transmitted using the following communication parameters:

9600 Baud
8 Data Bits
1 Stop Bit
No parity

Expected Input
$[Link]<CR>
where:
$ Sync/Start character
[Link] Speed through the water in knots
<CR> Carriage Return terminated string

e.g: $01.45<CR>

Options
The interface does not support any options.

Allocated Channel Numbers

Channel Description Notes
1 Water Speed m/s
2 Water Speed Knots

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Interfaces Manual TENSION

Chapter 18 - TENSION
This chapter contains details of RTNU and RTNµ Tension serial interfaces. For details of virtual
interfaces, please refer to Chapter 21 - ’VIRTUAL INTERFACES’.

Hystad Electronik Shock Absorber System

Code Name hyssas
INT File TN_HYSTAD_SHOCK
Group TENSION

Standard Display Message

Byte No Description Range
1 Start byte TONN F (46 hex)
2 MSB TONN 30-39 h
3 LSB TONN 30-39 h
4 LSB TONN * 10 30-39 h
5 Start byte length L (4C h)
6 MSB LENGTH 30-39 h
7 100 position 30-39 h
8 10 position 30-39 h
9 LSB length 30-39 h
10 Message end byte ETX (03 h)

Alarm Message
Byte No Description Range
1 Start byte TONN F (66 hex)
2 MSB TONN 30-39 h
3 LSB TONN 30-39 h
4 LSB TONN * 10 30-39 h
5 Start byte length I (6C h)
6 MSB LENGTH 30-39 h
7 100 position 30-39 h
8 10 position 30-39 h
9 LSB length 30-39 h
10 Message end byte ETX (03 h)

Note: Alarm data message is transmitted one time only when alarm limit(s) are changed.
Apparently, string will not contain capital 'F' and small 'l' (or vice-versa) at the same time;
thus, for a length, alarm will be missed unless a tonnage alarm also exists.
e.g: F123L4567ETX or f123l4567ETX

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TENSION Interfaces Manual

Allocated Channel Numbers

Channel Description Notes
1 Alarm Flag 0 Normal, 1 Alarm
2 Tonnes 000-999
3 Length 000.0-999.9

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Interfaces Manual TENSION

Load Cell - PGS Interface

Code Name locell
INT File TN_PGS_LOAD_CELL
Group TENSION

The PGS load cell serial output has the following format:
TTTTT<CR>
where TTTTT is tension value in kilogrammes.

Allocated Channel Numbers

Channel Description Notes
1 Tension kilogrammes

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TENSION Interfaces Manual

SYNTRON Streamer Tension Unit

Code Name synten
INT File TN_SYNTRON_TENSION
Group TENSION

The SYNTRON Streamer Tension Unit has the following output format
<LF>99 43 9 56 2 1 0 15 15 -15 19 2 0 22 30 7 20 3 0 7 7 0 21 4 0 15 15 0 21
The string consists of a variable number of fields separated by spaces.
Field Content
1 Years since 1900
2 Day of the year (1-266)
3 Hours (00-23)
4 Minutes (0-59)
5 Seconds (0-59)
6 RU Number
7 Channel Number (0-15)
8 Average tension
9 Peak tension
10 Delta tension
11 Temperature in _C

Fields 6-11 are repeated for each unit.

Allocated Channel Numbers

Channel Description Notes
1 Unit 1 RU Number
2 Unit 1 Channel Num
3 Unit 1 Avge Tension
4 Unit 1 Peak Tension
5 Unit 1 Delta Tension
6 Unit 1 Temperature

Channels 1 to 6 repeated for “n” units.

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Interfaces Manual TENSION

Western Paravane Tension

Code Name wten
INT File TN_WESTERN_PARAVANE
Group TENSION

Typical ASCII string

YYYYYY,XXXXXXCRLF
15 bytes fixed length
Description
Y Tension in current engineering units YYYYYY (analog input1)
X Tension in current engineering units XXXXXX (analog input2)
CR = Carriage Return
LF = Line Feed

The data will be received at 23Hz, stored and averaged before being passed back to the ILC.

Allocated Channel Numbers

Channel Description Notes
1 Average Resultant tension
2 Average Resultant angle
3 Peak Resultant tension
4 Average Y tension
5 Average X tension
6 Number of samples

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TENSION Interfaces Manual

Western WG24 Cable Tension Interface

Code Name wg24ten
INT File TN_WESTERN_WG24
Group TENSION

Serial output string

CTMDATA RNUM 11111 22222 33333 44444 55555 66666 77777 88888 LBSUM
Example:
CTMDATA 0001 01000 01230 01000 01230 01000 01230 01000 01230 08920
Channel Description Form Col
Start Chars "CTMDATA" 1
1 CTM Output record (0-9999) 0001 8
2 Cable 1 average tension (lbs) 11111 13
3 Cable 1 Pk-Pk tension (lbs) 22222 20
4 Cable 2 average tension (lbs) 33333 27
5 Cable 2 Pk-Pk tension (lbs) 44444 34
6 Cable 3 average tension (lbs) 55555 41
7 Cable 3 Pk-Pk tension (lbs) 66666 48
8 Cable 4 average tension (lbs) 77777 55
9 Cable 4 Pk-Pk tension (lbs) 88888 62

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Interfaces Manual TEST

Chapter 19 - TEST
This chapter contains details of RTNU and RTNµ Test serial interfaces.

SERIAL Debug Interface

Code Name serbug
INT File TT_SERDEBUG
Group TEST

This interface can be used to read any format data from a serial port. It should be used to view an
unformatted output of the data if the format is unknown. There are no channels returned from this
interface. The data is returned in the unformatted string.

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TEST Interfaces Manual

SLUG Interface
Code Name slug
INT File TT_SLUG
Group TEST

This interface does not decode any data from the serial port but instead simply returns arbitrary
test data. This interface can be used to test the communications link between the RTNU and the
RTCN.

Allocated Channel Numbers

Channel Description Notes
1 Ch 1 Data
‘n’ Ch ‘n’ Data

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Interfaces Manual TEST

Spectra Simulator (General)

Code Name simg
INT File TT_SIMG
Group TEST

This general purpose simulator outputs a simple ASCII string containing n fields, each 12
characters long. At present legal characters are limited to ".", " ", "-", "+" & ASCII numeric. The
variable length string is terminated by <CR><LF>.
The ICC returns the number of channels received. Maximum set to 100 at present.
Channel 1 Field 1 Chars 1-12
Channel 2 Field 2 Chars 13-24
: : :
Channel n Field n Chars ((12*(n-1))+1) to (12*n)

Maximum value for n is 100.

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Interfaces Manual TIMING

Chapter 20 - TIMING
This chapter contains details of RTNU and RTNµ Timing serial interfaces.

DMS SYNTRAK 480 log header for QC

Code Name synqc
INT File TI_SYNTRAK_480
Group TIMING

Example of External System QC Header

HDR 00000452MSRS02160001LOG 02170133DATE02230007TIME02320015UNIT02470001
REEL02490016FILE02670008SHOT02750008BUF 02840001TAPE02890060ITB 03500032
WTRD03820006EXT103880008EXT203960008EXT304040008EXT404120008STRM042000321
22Jul97 21:30:17.0034870 988 235 2835 1
040 039 039 039 000 000 000 000 0
1t?*GCS16481700
Bytes 0-3 Type Identifier ‘HDR’
Bytes 4-7 Message Offset
Bytes 8-11 Total Packet size e.g. 0452

Each field-type identifier is 4 chars long, e.g. ‘EXT1’, ‘EXT2’, ‘STRM’, etc. Each field-type
identifier is followed by 8 chars, the first 4 of which are the offset to the corresponding data field
from the start of the message. The remaining 4 indicate the size of the data field.
Example:

FILE02670008 This field is located 267 characters from the start of the message
and is 8 characters long.
SHOT02750008 275 characters from the start, 8 characters long.

Allocated Channel Numbers

Channel Description
1 Shot Number
2 Event Time
3 Sensor Time

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TIMING Interfaces Manual

NMEA ZDA Interface

Code Name nmzda
INT File NMEA_ZDA
Group TIMING

Typical ASCII String as follows:

$--ZDA,[Link],xx,xx,xxxx,xx,xx*hh<CR><LF>
Where:
[Link] UTC time
xx Day, 01 to 31
xx Month, 01 to 31
xxxx Year
xx Local zone description, 00 to +/-13 hours
xx*hh Local zone Minutes description, same sign as local hours

Note: Zone description is number of whole hours added to local time to obtain GMT. Zone
description is negative for east longitudes.

Allocated Channel Numbers

Channel Description Notes
1 Shot No (Not available from string)
2 Event time Time in string (secs since start 1970)
3 <not used>
4 Acquisition time RTNU time stamp (secs since start 1970)
5 RTNUTIME_DIFF Time Diff RTNU-Event Time (secs)
6 Hours Raw from string
7 Minutes Raw from string
8 Seconds Raw from string

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Interfaces Manual TIMING

NR203M Trigger Timestamping Interface

Code Name nr203m
INT File TI_NR203M
Group TIMING

The NR203 Receiver can be used to timestamp digital TTL triggers. In this mode, the receiver
outputs a data string containing the time on receipt of a trigger. This string is identical to the string
shown in the DGPS interface NMEA NR203 Multi String (for string format, see “NMEA NR203
Multi string” on page 25-4)
This interface decodes only the time portion and returns the timing information and shot number.
The interface uses the same code as the NMEA NR203 Multi String interface, but a fixed
parameter Timestamping (RTCN Interface Editor|Configuration) is passed to force the interface to
operate in this mode.

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop Bit 0

Allocated Channel Numbers

Channel Description Notes
1 Shot Number
2 Event Time (The trigger time)
3 Not Used

Command Line Options

Timestamping is always selected, and cannot be de-selected.

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TIMING Interfaces Manual

TrueTime Event Timing Interface

Code Name ttime
INT File TI_TRUETIME
Group TIMING

The data is transmitted using the following communication parameters:

9,600 Baud
7 Data Bits
1 Stop Bit
Even Parity
The Truetime unit is used to accurately timestamp a TTL Digital Input. On receipt of a rising edge
trigger of greater than or equal to 100ns duration, the unit transmits a serial containing the trigger
timestamp to an accuracy of 30ns.
On initial power-up, the truetime box transmits the system time string once per second:
<SOH>xxx:xx:xx:xx.<cr><lf>
To enter the truetime box into event mode, the interface sends a Ctrl C (0x3) character followed
by the string: F28 ET<cr>
Whenever the truetime box receives a closure on the port marked T1/ET (Trigger Interval/Event
Time), it responds with the string:
DDD:HH:MM:[Link]<CR><LF>
For example: 111:22:33:44.123456789
where:
DDD 3 digit day of the year
: ASCII colon separator character
HH Hours
: separator
MM Minutes
: separator
SS Seconds
. Decimal point
nnnnnnnnn 9 digit nano seconds

Allocated Channel Numbers

Channel Description Notes
1 Shot No
2 Event time Time is decimal secs (UNIX time) that the event occured
3 Sensor time The unmodified time (seconds into the year) from the sensor serial
string

Truetime Facilities
To view the trigger timestamp on the front panel of the truetime box:
1. Press the following sequence on the front panel keypad:
status
func/entr
28
2. Select ET (use up/down arrows to select Event Timing),
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Interfaces Manual TIMING

3. Press func/entr.
You should now see the time of the closure updating on the font panel. Note that you can loop
back the 1PPS output to the T1/ET input for test purposes.
It may be required (depending on the state of the truetime box) to switch off Emulation Mode.
Switch on then off as follows:
1. Press the following sequence on the front panel keypad:
status
func/entr
16
2. Select on (use up and down arrows)
3. Press the following sequence on the front panel keypad:
func/entr
func/entr
16
4. Select off
5. Press func/entr

Options
In a noisy environment, or where there may be bad grounding, the Truetime unit may be triggered
on the falling edge of the pulse. To prevent this, the interface has a debounce option which, if
enabled, will ignore a trigger if it occurs within the debounce period. To enable this, select the
interface in the RTCN Interface Editor, select Update from the Options menu, click on the
Configuration tab and select the Debounce Time button. Enter the debounce time in decimal
millisecs. Any strings that occur within this debounce period will not be sent to the data server.
Note: Ensure the RAW flag in the RTCN Interface Editor is disabled, otherwise all strings
received will be returned.

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TIMING Interfaces Manual

TrueTime Nav String Interface

Code Name ttnav
INT File TI_TRUETIME_NAV
Group TIMING

Comms Parameters
Baud 9600
Parity None
Data Bits 8
Stop 1

This is an alternate, enhanced output from the TrueTime timing unit.

Typical ASCII String

NAV 21:24:24.0000 FTB 21:24:24.6400 REM FTB 21:24:24.6400 Diff 000.0000<LF>
Description Form Field
Field Identifier NAV 1
GPS Time of pre-trigger HH:MM:[Link] 2
Field Identifier FTB 3
GPS time of master vessel time break HH:MM:[Link] 4
Field Identifier REM FTB 5
GPS time of slave vessel time break HH:MM:[Link] 6
Field Identifier DIff 7
Time difference between master and [Link] 8
slave time break (msecs)

Notes:
The time in the Event Time channel is taken from the time in the FTB channel.

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Interfaces Manual TIMING

TTU (Trigger Timing Unit) Timing Interface

Code Name ttu
INT File TI_TTU
Group TIMING

Typical ASCII String is as follows:

HH:MM:[Link]
where:
HH 2-digit hours.
: colon Seperator
MM 2-digit minutes.
: colon Seperator
SS 2-digit seconds.
. decimal place
nnnnnn 6-digit decimal seconds.

Allocated Channel Numbers

Channel Description Notes
1 Shot No Not available from string but inserted internally by the RTNU.
2 Event time Time is decimal secs (UNIX time) that the event occured
3 Sensor time The unmodified time (seconds into the year) from the sensor serial
string
4 Hours
5 Mins
6 Sec

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Interfaces Manual VIRTUAL INTERFACES

Chapter 21 - VIRTUAL INTERFACES

This chapter contains details of virtual interfaces.

Cable Depths From Western MSC1 and MSC2 Units

Code Name n/a
INT File CM_V_MSX1_DEPTHS
CM_V_MSX2_DEPTHS
Group VIRTUAL

This interface is used only by Spectra.

Allocated Channel Numbers

Channel Description Notes
1 Number of cables
2 Number of modules
3 258 depth information

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VIRTUAL INTERFACES Interfaces Manual

CRS Virtual Gun Interface

Code Name n/a
INT File GN_V_SSSCRS
Group VIRTUAL

This interface is specific to Spectra.

Spectra data_server. The data is produced as a @RAW@ item containing gun timing information
and gun depths and pressures. The interface has to be defined in the Virtual Interface section of
the RTCN before RAW data will be produced.

Allocated Channels
Channel Description Notes
1-20 As per “Standardised Gun Channel Allocation” on page 1-7
21 GPS Timestamp
22 FSID
Gun data starts in channel 23.

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Interfaces Manual VIRTUAL INTERFACES

Digicourse TZ OBC Virtual Interface

Code Name n/a
INT File OBC_V_TZ_DIGI
Group VIRTUAL

This is the interface definition for the DIGICOURSE DigiPOINT acoustic ranging system. The
raw data is returned via the header process ‘dpoint’ which must be running on the RTNµ and
communicates with the Digicourse DAU via a serial communication link.
Consult the Digicourse Digipoint Header entry in the Header Output Reference manual for further
details.

Comms Parameters
Baud 9600
Data Bits 8
Stop Bits 1
Parity None

String Format
HOST message format as described in the DigiPoint Acoustic Ranging system manual.

Allocated Channel Numbers

Channel Description Notes
1 Number of ranges Number of ranges returned
2 Range status 1=GOOD_TWO_WAY_RANGE
0=INVALID
Unformatted Identifier/Ranges Binary OBC raw structure

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Gun & Pinger Depths From Western SSS Unit

Code Name n/a
INT File GN_V_SSS_DEPTHS
Group VIRTUAL

Allocated Channel Numbers

Channel Description
1 - 16 Pinger depths
17 - 32 Gun depths

This interface is specific to Spectra.

Note that the SSS application must be running in the RTNU Triggers card.

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HIPAP USBL Virtual Interface

Code Name n/a
INT File OBC_V_SSB
SP_V_SVT
PH_V_SNS
Group VIRTUAL

The hipap.o RTNµ header is used to obtain USBL data from the Simrad APOS system. Refer to
the HiPAP Acoustic Header entry in the Header Output Reference manual for details.
There are 3 separate pieces of data which will be accepted and parsed by the RTNu. All the data
supplied from APOS to the RTNu is provided through a single port.
The types of data parsed by the system are:
1. USBL data. Use the OBC_V_SSB interface for USBL data, which is supplied from APOS
using the SSB command.
2. Sound velocity Data. Use the SP_V_SVT interface for sound velocity data, which is supplied
form APOS using the SVT command.
3. Pitch, Roll and Heave. Use the PH_V_SNS interface for Pitch, roll and heave data, which is
supplied from APOS using the SNS command.

Comms Parameters
Baud 9600
Data Bits 8
Stop Bits 1
Parity None

String Format
SSB Command
$PSIMSSB,[Link],cc,A,cc,aa,aa,aa,x.x,x.x,x.x,x.x,aa,x.x,x.x*hhCRLF
e.g.
$PSIMSSB,,B32,A,,P,H,M,123.4,35.7 ,55.5,2.55,N,,*65
Description Form Field
Start Chars "$PSIMSSB" 0
Empty or time of reception 1
TP_code e.g. B54,B67 2
Status (A -> OK, V -> bad) 3
Coordinate system (C Cart, P Polar, U UTM) 4
Orientation (H Vess up,N North,E East) 5
SW_filter (M, F, P) 7
M – Measured
F – Filtered
P - Predicted
X-Coordinate x.y 8
Y-Coordinate x.y 9
Depth Water depth in metres 10
Expected accuracy Accuracy of position 11
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Description Form Field

Addition Information (N, C, I) 12
N – None
C – Compass
I - Inclinometer
First additional value Empty, Tp compass or Tp inclination 13
Second additional value Empty or Tp y inclination 14
Checksum *hh 15
CRLF AA 16

SVT Command
$PSIMSVT,aa,x,x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x*hhCRLF
Description Form Field
Start Chars "$PSIMSVT" 0
Description (P, M or R) 1
P – Profile used
M – Manual Parameters
R – Request profile
Total Points in sound profile I 2
Depth of next sound velocity x.x (m) 3
Sound velocity for above depth x.x (m/s) 4
Depth of next sound velocity x.x (m) 5
Sound velocity for above depth x.x (m/s) 6
Depth of next sound velocity x.x (m) 7
Sound velocity for above depth x.x (m/s) 8
Depth of next sound velocity x.x (m) 9
Sound velocity for above depth x.x (m/s) 10
Checksum *hh 11
CRLF AA 12

This command can be sent multiple times until the Total number of points in field 2 has been
reached. In the last message extra fields can be empty.
SNS Command
$PSIMSNS,[Link],c-c,xx,xx,x.x,x.x,x.x,,,,,,*hhCRLF
Description Form Field
Start Chars "$PSIMSNS" 0
Empty or time stamp [Link] 1
Position item I 2
Transceiver number I 3
Transducer number I 4
Roll x.x 5
Pitch x.x 6
Heave x.x 7
Heading x.x, 8
Spare Empty 9
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Description Form Field

Spare Empty 10
Spare Empty 11
Spare Empty 12
Checksum *hh 13
CRLF AA 14

Allocated Channel Numbers

OBC_V_SSB
Channel Description Notes
1 # Ranges Number of ranges supplied
2 TP1 Range Transponder 1 value (can be range or X coordinate depending on
APOS setup)
3 TP1 Bearing Transponder 1 value can be bearing or Y coordinate depending on
APOS setup)
4 TP1 Height Transponder 1 height
5 TP2 Range Transponder 2 value (can be range or X coordinate depending on
APOS setup)
6 TP2 Bearing Transponder 2 value (can be bearing or Y coordinate depending on
APOS setup)
7 TP2 Height Transponder 2 height
8 TP3 Range Transponder 3 value (can be range or X coordinate depending on
APOS setup)
9 TP3 Bearing Transponder 3 value (can be bearing or Y coordinate depending on
APOS setup)
10 TP3 Height Transponder 3 height
11 TP4 Range Transponder 4 value (can be range or X coordinate depending on
APOS setup)
12 TP4 Bearing Transponder 4 value (can be bearing or Y coordinate depending on
APOS setup)
13 TP4 Height Transponder 4 height

SP_V_SVT
Channel Description Notes
1 Total Points Number of points in profile
2 Salinity Units Units for salinity
3 POINT 1 Temperature at depth
TEMPERATURE
4 POINT 1 SALINITY Salinity at depth
5 POINT 1 DEPTH Water depth (metres)
6 POINT 1 SPEED Water speed (m/s)

Notes:
The Temperature, Salinity, depth and speed channels are repeated for twenty points.

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PH_V_SNS
This interface is exactly as defined for the standard pitch, roll heave interface. (LINK TO
STANDARD INTERFACE HERE)

Options
SP_V_SVT
TP Position Channel. Comma separated list of transponders. If this is set then a channel in this
list will be placed at a set location in the raw data returned. E.g. If data from transponders B12
and B13 are to be returned in the first and second raw channel locations (2-4 and 5 -7) then the
input string should be B12,B13.

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Horizon Gun Data Socket Interface

Code Name n/a
INT File GN_V_HORIZON_GUN
Group VIRTUAL

This interface is specific to Spectra.

This is a Node, running on a workstation and acquiring data via assigned socket connections. It
would normally be started from the Monitor Node (as defined in the [Link] file) when you start the
system.
The command and options for running the HORZGUN Node are:
horzgun -S ISCT -G i/f_name [-D ISCD] [-P ISCP]
where:
i/f_name The interface name that appears in the SCN Gunarray fired mask interface field.
-D ISCD Optional, depending on whether there are depth information sockets present on the
Horizon OS9 network.
-P ISCP Optional, depending on whether there are pressure information sockets present on
the Horizon OS9 network.

This Node acquires gun timing, depth and pressure information, and sends this to the Data
Server in the form of a RAW item. The guns fired, depth sensor and pressure sensor items are
each obtained from separate socket connections, and so each have their own command line
arguments, depending on which sockets are available on the particular vessel.

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Sonardyne RFID Tag reader Virtual Interface

Code Name n/a
INT File OBC_V_SDYNE_RFID
Group VIRTUAL

This interface is specific to Gator.

The sonrfid.o RTNµ header is used to obtain data from RFID tags via the Sonardyne RFID Tag
readers. Refer to the Sonardyne RFID Reader Header entry in the Header Output Reference
manual for details.
Multiple Sonardyne tag readers can be attached to the RTNµ – each one connected to its own
serial port. One virtual interface is created per reader. Only one sonrfid.o RTNµ header process
is needed for multiple readers. This header process parses one format string for each of the tag
readers.
The data parsed by the system is a hexadecimal 16 character representation of the tag’s
contents.

Comms Parameters
Baud 38400
Data Bits 8
Stop Bits 1
Parity None

String Format
The table below represents the string passed from the RFID reader to the RTNµ in the order of
most significant bit to least significant bit. Note that even though the tag is read in hexadecimal
form, the RTNµ header does not expect to get any non-decimal characters in the string (i.e. no ‘A’
to ‘F’). The RTNµ header treats any number read from this string as a base 10 number.
The following key allows you to understand what each character in the string is used for.
• Unique ID, positions 2 – 9 in the table below
• Beacon Address, positions 10 – 13 in the table below.
• Beacon Reply Frequency, positions 15 – 16 in the table below.
• Unused, positions 1 & 14
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
U ID ID ID ID ID ID ID ID A A A A U RF RF

UNIQUE ID
The asset number has the format <number> where number is at least 10000. The unique
identifier is between 0 and 9999,9999. The Sonardyne RFID header process generates an asset
number from the tag unique ID. The formula for this is: Asset no = unique id.

BEACON ADDRESS
The beacon address is contained in bytes 10 to 13. This gives a maximum addressing space of
0 – 9999.

BEACON REPLY FREQUENCY

The beacon reply frequency is contained in bytes 15 and 16. This gives a reply frequency range
of 0 - 99.
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BEACON TURN AROUND TIME

Gator also needs to know the beacon turn around time. As this can be implied from the beacon
address, the information does not need to be included in the tag itself. Address 1 - 23 -> TAT =
300ms. 24 and up -> TAT is 400ms.

Allocated Channel Numbers

Channel Description Notes
1 Time of Last Read The last time this tag was read by the specified RFID reader.
(UTC time)
2 Time of First Read The first time this tag was read by the specified RFID reader.
(UTC time)
3 Time Delta The difference between the last read time and the first read
time above. (seconds)
4 Number of Reads The number of valid reads of this tag that the specified RFID
tag reader read in the time delta specified above.
5 Unique ID The Unique ID retrieved from the tag.
6 Asset Number The Asset number of the tag (identical to the unique ID).
7 Address The beacon address of the Tag as defined in the text above.
8 Reply Frequency The beacon reply frequency as defined in the text above.
9 TAT The beacon turn around time as defined in the text above.

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Sonardyne TZ OBC Virtual Interface

Code Name n/a
INT File OBC_V_SDYNE_TZ
Group VIRTUAL

This interface is specific to Gator.

This is the interface definition for the Sonardyne Ocean Bottom Cable acoustic ranging system
(OBC12). The RAW data is returned via the header process “OBC12multi” which must be running
on the RTNµ and communicates with the OBC12 via a serial communications link. This interface
has to be defined in the Virtual Interface section of the RTCN before RAW data will be produced.
Please consult the Header Reference Manual for further details.

Allocated Channels
Channel Description Notes
1 Number of ranges
2 Range status 1=GOOD_TWO_WAY_RANGE or 0=INVALID
Unformatted Identifiers/Ranges OBC Raw structure format

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SPCN DGPS Virtual Interface

Code Name n/a
INT File DG_V_SPCN_VERBOSE
DG_V_SPCN_CONCISE
Group VIRTUAL

The Virtual DGPS interface for the SPCN is available as either CONCISE or VERBOSE versions.
The most commonly used is the VERBOSE version, which defaults to 32 satellites whereas the
CONCISE version defaults to 0 satellites and therefore returns no satellite data.

Allocated Channels
Channel Description Notes
1-101 As per “Standardised DGPS Channel Allocation” on page 1-4.
102 Set 1 Delta Easting
103 Set 1 Delta Northing
104 Set 1 Delta Height
105 Set 1 Delta Range
106 Set 1 Delta Bearing
107 Set 2 Delta Easting
108 Set 2 Delta Northing
109 Set 2 Delta Height
110 Set 2 Delta Range
111 Set 2 Delta Bearing
112 Set 3 Delta Easting
113 Set 3 Delta Northing
114 Set 3 Delta Height
115 Set 3 Delta Range
116 Set 3 Delta Bearing
117 Aux Delta Easting Aux = Chosen Auxilliary Station
118 Aux Delta Northing
119 Aux Delta Height
120 Aux Delta Range
121 Aux Delta Bearing
122-(15 x n) n = Number of Satellites Defaults to 32 satellites

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VIPSER Node
Code Name n/a
INT File DG_V_NMEA_GGA
GY_V_NMEA_GYRO
EC_V_ATLAS_DESO15
EC_V_DF3200
EC_V_EA400
EC_V_EA500
EC_V_EA500A
EC_V_EA500M
TN_V_PGS_LOAD_CELL
XX_V_KSS31
Group VIRTUAL

This interface is specific to Spectra.

The VIPSER node is used to acquire data for the system without using the RTNU or RTNµ to
process the serial data. This is primarily for use on multi-vessel operations where it may not be
economically viable to put an RTNU on a tug, but the master vessel may require the tug’s gyro for
network calculations.
The VIPSER takes data in via a serial port, formats the data in the same way that an RTNU
interface would and presents the data to the Data Server. Interfaces are configured in the RTCN
as virtual interfaces. Data is returned once a second if available.

Prerequisites
• A Data Server must be running
• An RTNU or RTNµ must be connected to the Data Server on the master vessel. The is
necessary because the VIPSER uses the @GPS@ item to timestamp the data. This is
only produced by an RTNU, RTNµ, or PowerRTNU.
• A serial port on the computer must be configured and available for use.
If any of the above prerequisites are not met the VIPSER node will exit.

Currently Supported Interfaces

All of the following interfaces are available via the hardware interface units and as such have a
general entry in the corresponding chapters in this manual. Consult the relevant sections for
further details.
NMEA Gyro This will interface to a standard NMEA Gyro string.
I/P String $HEHDG,xxx.x,,,,,,<CR><LF>
or $HEHDT,xxx.x,,,,,,<CR><LF>
The first comma delimited value will be returned in Channel 1.
Uses GY_V_NMEA_GYRO.INT
LOADCELL Cable Tension Interface
I/P String: TTTTT<CR>
Tension is returned in Kilograms in Channel 1
Uses TN_V_PGS_LOAD_CELL.INT

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ODOM DF3200 Echo Sounder Interface

The Input string is variable depending on the operating mode of the echo
sounder.
The format is described in ’ODOM Hydrographic DF3200 Echosounder’
Uses EC_V_DF3200.INT
This interface is also capable of annotating the echo sounder at SOL, EOL
and at a definable shot interval.
ATLAS DESO15 Echo Sounder Interface
The format is described in ’ATLAS DESO 15 Echosounder’
Uses EC_V_ATLAS_DESO15.INT
SIMRAD EA500 Echo Sounder Interface
The format is described in ’SIMRAD EA500 Echosounder’.
Uses EC_V_EA400.INT, EC_V_EA500.INT, EC_V_EA500A.INT, or
EC_V_EA500M.INT
NMEA DGPS Standard NMEA string:
$GPGGA,[Link],[Link],,,,<CR><LF>
uses DG_V_NMEA_GGA.INT and returns data as per ’Standardised DGPS
Channel Allocation’.
KSS31 This will interface to the KSS31 Gravity Meter.
Communication is bi-directional - the VIPSER process transmits navigation
data to the KSS31 and the KSS31 transmits gravity information which is
decoded by VIPSER.
Uses XX_V_KSS31.INT
Format described in the ’KSS31’ entry in Chapter 6 - ’GENERAL’. See also
the ‘Options’ section for details on how to configure the message output via
the RTCN.

Running the Node

The command line has the following options:
-ifname name The name of the .INT file, e.g. GY_V_NMEA_GYRO
-sdev path The path name of the serial port. Default is /dev/tty0
-baud rate I/P baud rate. Default is 9600.
-dbg Verbose output. Print some debug data.
-h Print help and exit.

-ifname and -sdev are mandatory, the rest are optional.

The following options can be set via the Configuration panel of the RTCN Interface Editor.
RTCN Options Interface Notes
Feet EC_V_EA500 Return depths in Feet instead of metres.
EC_V_EA400
Event Mark Spacing EC_V_DF3200 Event mark spacing as n shots. Default
EC_V_ATLAS_DESO15 is 40.
EC_V_EA500
EC_V_EA500A
EC_V_EA500M
EC_V_EA400
Vessel Name EC_V_DF3200 No spaces. Output at SOL

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RTCN Options Interface Notes

Annotate Echosounder EC_V_DF3200 Output event information at frequency
EC_V_EA500 specified by Event Mark Spacing.
EC_V_EA500A
EC_V_EA500M
EC_V_EA400
Optional Message
Output Frequency XX_V_KSS31 Ref to Shot or Each Second. Tells
VIPSER how often to produce the string
on the serial port.

Example:
start skye vipser -ifname EC_V_DF3200 -sdev /dev/ttya

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Virtual Interface Digicourse

Code Name n/a
INT File AC_V_DIGICOURSE
CM_V_DIGICOURSE_CMP
Group VIRTUAL

This interface is specific to Spectra.

Introduction
The purpose of the VID is to receive compass, acoustic, and speed of sound in water data from
Digicourse’s Data Management Unit (DMU) over a datagram or TCP/IP socket on the Ethernet,
decode the data, and place it in RAW items in the Data Server.
The compass and depth sensor information provided by the DMU is in a simple format - one
value per shot from every sensor that is capable of returning data. The acoustic data is much
more complicated, encompassing not just the range between a pair of acoustic pods, but also
information on the validity of this value and the one-way paths used to compute it. The VID must
transfer all of this extra information to the Data Server, and in some cases use the network
solution to manipulate the value of the range.

How Digicourse Works

The VID interfaces to two Digicourse systems - System 3 and Pro2000. There are differences in
the way these systems, and their different versions, operate. Therefore the following should be
used as a rough guide only.
There are three values associated with every acoustic measurement between two sensors, the
calculated range, the one-way range path1 from sensor A to sensor B, and the one-way range
path2 going in the opposite direction from sensor B to sensor A.
At every shot cycle, the following sequence of events takes place for every acoustic range:
1. Sensor A pings sensor B, and sensor B pings sensor A. The values for path1 and path2 are
generated and passed to the DMU.
2. If path1 and path2 are received, and are within 3ms of each other, the average of these
values is placed in the calculated range and no further action is taken.
3. If only one of the path values is received, the value for that path is placed in the calculated
range and is marked as being a one-way range.
4. If the values for the two paths differ by more than 3ms, Digicourse chooses one of the paths
for the calculated range based on the history of values for that range. The range is marked as
having a path discrepancy.
5. If either 3 or 4 are true, the sequence is repeated and a completely independent secondary
range is calculated.
Every cycle the following messages are broadcast in the following order (messages most
important to us are listed in bold):
130 - Start Scan Cycle
152 - Heading (Compass) Data
153 - Depth/fin Data
154 - Acoustic Range Data
155 - Primary Path Data
155 - Secondary Path Data (if enabled)
162 - Path Time Data
162 - Secondary Path Time Data (if enabled)
157 - Sound Speed Data

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151 - Unit Data

160 - Unit Data Message (Digicourse System3 V5.0)
161 - Unit Serial Number Data
163 - Speed Log Data
165 - One-way Range Data
150 - System Status
A more complete description of the format of these messages is given in the Digicourse
documentation.

VID Design
There is no user interface. All the options required are set on the command line.
Data is accessed from the Digicourse DMU using either a Datagram or TCP/IP socket interface.
The socket port number used by default is 9987, although this can be changed by using the -P
port_number command line option, see below. In this protocol the DMU acts as the server and
the VID as the client.
There are two virtual interfaces associated with the VID, one for the compass and depth sensor
data, and one for the acoustic data and speed of sound data. It is a prerequisite to running VID
successfully that these two interfaces have been defined in the RTCN and submitted to the Data
Server. VID produces the two corresponding RAW items.
The VID polls for the RTCNCONF so that it knows when the interface definitions may have
changed.
The VID needs to monitor the acoustic values in the netsolution to the primary network. The
PRIMARY item defines the name of this network (almost always main). The VID polls for the
SNNCONF so that it knows when the NETWORK or PRIMARY items have changed.
Associated with each item of acoustic, depth or compass data in the messages transmitted by the
DMU is an age of data. This is a negative offset from the current trigger time to the point at which
the data was gathered in the previous cycle. The VID needs to access the relevant TRIGGERED
item so that it can work out the timestamps for each item of data by subtracting the age of data
from the time at which the trigger fired.
The standard form of the command line for the VID is:
vid -A acoustic_int_name -C compass_int_name [-S DMU_server_address]
[-SPEED speedlog_int_name] [-T trigger_name] [-P port_number] [-dbg] [-dbg_verbose]
[-dbg_hexdump]
acoustic_int_name and compass_int_name are the names of the virtual interfaces required by
the VID. DMU_server_address is the name or address of the DMU tcp server to use. If this option
is not present the UDP broadcast system defined in the RTCN is used by default. The optional -
SPEED flag is followed by the name of the speed log virtual interface defined in the RTCN. This
decodes message type 163 and produces a raw data item with the same name as the interface.
The optional -T flag is followed by the name of the output trigger used to fire the Digicourse
system. The default name is “Digicourse”.
The -P flag is optional and can be used to specify a port other than the default 9987. Basically,
the DMU transmits over both the TCP and UDP broadcast systems. You can choose to use the
TCP broadcast system with the -S option and change the default TCP port with the -P option.
The optional debug flags are used to help in the debugging process if the VID outputs are not as
expected. If any of these flags are used, the VID produces a file of the form [Link], where X is
a number that will increment to avoid overwriting existing files. This file will be produced in the
directory specified by the PN_LOG environment variable, or in the current directory if this is not
defined.
The dbg flag produces basic debug, dbg_verbose more extensive debug messages, and
dbg_hexdump produces an output containing hexdumps of all Ethernet messages.
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The following is the algorithm used by the VID to determine what data to return for each range.
The flags indicating a one-way range or a path discrepancy in the 154 message are ignored and
the VID simply uses the data in the first or second 155 message (depending on whether a
secondary range is invoked) and the main network solution. Note that as the Digicourse
convention for path1 and path2 is the opposite to the Spectra convention, these values are
swapped around and the status changed accordingly before being returned.
READ message type 155 Path Status

Path2 unqualified = bit 7 set in the path2 data word

Path1 unqualified = bit 7 set in the path1 data word

IF Path1unqualified AND Path2unqualified THEN

RETURN Range Absent

IF SCN Range Definition 1-WAY THEN

{
IF Path2 unqualified THEN
RETURN Range Absent
ELSE RETURN
{
range value = Digicourse path2
Spectra path1 = Digicourse path2
Spectra path2 = Digicourse path1
Status = GOOD_ONE_WAY_RANGE_PATH1
}
}
END

IF Path2unqualified AND NOT Path1unqualified THEN

RETURN
{
range value = Digicourse path1
Spectra path1 = Digicourse path2
Spectra path2 = Digicourse path1
Status = GOOD_ONE_WAY_RANGE_PATH2
}
END

IF Path1unqualified AND NOT Path2unqualified THEN

RETURN
{
range value = Digicourse path2
Spectra path1 = Digicourse path2
Spectra path2 = Digicourse path1
Status = GOOD_ONE_WAY_RANGE_PATH1
}
END

IF ABS ((Path1-Path2) <= 3ms) THEN

RETURN
{
range value = ((Path1+Path2)/2)
Spectra path1 = Digicourse path2
Spectra path2 = Digicourse path1
Status = GOOD_TWO_WAY_RANGE
}
ELSE IF no network solution available
RETURN
{
range value = Digicourse path2

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Spectra path1 = Digicourse path2

Spectra path2 = Digicourse path1
Status = GOOD_ONE_WAY_RANGE_PATH1
}
ELSE IF Path1 closest to network calculated range
RETURN
{
range value = Digicourse path1
Spectra path1 = Digicourse path2
Spectra path2 = Digicourse path1
Status = GOOD_ONE_WAY_RANGE_PATH2
}
ELSE IF Path2 closest to network calculated range
RETURN
{
range value = Digicourse path2
Spectra path1 = Digicourse path2
Spectra path2 = Digicourse path1
Status = GOOD_ONE_WAY_RANGE_PATH1
}
END

Allocated Channels
Channel Description Notes
1 No of Ranges NR
2 No of Velocimeters
3 Range Units 0 = 0.025 millisecs
1 = 0.050 millisecs
2 = 0.100 millisecs
3 = 255 reserved
4 Sound speed metres/sec
5 Salinity
6 Time Offset
7 Reserved 1
8 Reserved 2
9-n Acoustic range blocks Configured at RTCN.
User configures which ranges are returned in each
channel slot by specifying the unit Tx and Rx IDs.
Ranges are returned in milliseconds.
The following block is repeated for each acoustic range
10 Range S1T1-S1T2 Range
11 Status S1T1-S1T2 Status
12 Time S1T1-S1T2 Range Time
13 Path 1 S1T1-S1T2 Path 1
14 P1 Time S1T1-S1T2 Path 1 Time
15 Path 2 S1T1-S1T2 Path 2
16 P2 Time S1T1-S1T2 Path 2 Time

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Virtual Interface for RADAR

Code Name n/a
INT File
Group VIRTUAL

VIRADAR receives and decodes NMEA TTM (Tracked Target Message) strings from a radar
system. These provide positional data on targets being tracked by the radar system. The
VIRADAR then produces
• @TARGET@ item for each of these targets
• @TARGETCONF@ item for the system
These enable the targets to be selected for display in a Display Node helmsman window.
VIRADAR also transmits a NMEA HDG (Heading) message, containing the vessel’s gyro
reading, every 2 seconds.
If there are multiple radar systems on the same vessel, a separate instance of VIRADAR must be
started for each system and a different serial port specified for each.
The Viradar runs on
• A workstation - normally started from the Monitor Node (as defined in [Link])
• A PowerRTNU, started on power-up, or reboot (as defined in the unit’s .rc file)
Note: The viradar is unlike most other virtual interfaces in that it does not produce @RAW@
items. It instead produces @TARGET@ items. It therefore does not have a .INT file associated
with it. It is also unusual in that it consumes data server items, and transmits serial data.

General
Connection
• If there is no data server running when the VIRADAR is started, then it attempts a connec-
tion until successful or cancelled.
• If the specified serial port is unavailable for use then the VIRADAR will exit.
Targets
• If a TTM string is received which flags a target as lost, or if no TTM is received for three
minutes, then the target item will be removed from the data server
• Target names are composed of the vessel node name (e.g. V1), a colon, and the target’s
id as specified on the radar system and received within the TTM message. e.g. @TAR-
GET@V1:102. The TARGETCONF item has the node name of the vessel upon which the
system is running appended to it. e.g. @TARGETCONF@V1.
Data Items
• The viradar produces the following data server items: TARGET, TARGETCONF.
• The viradar consumes the following data server items: NCC, PSD, SNNCONF, NET-
WORK, NETSOLUTION.

PowerRTNU: Loading the object file

The VIRADAR object is not automatically linked into the PowerRTNU object file (powerrtnu.o)
and must be downloaded separately, e.g. in the unit’s .rc file.
ld 1,0,”/projects/primenav/PowerRTNU/obj/viradar.o”
This path will normally match the PN_PWROBJ definition in the [Link] file.

21-21
Viradar Command Line
VIRADAR flags
- system system Mandatory argument. Name of the radar system.
-vessel vessel Node Name of vessel upon which radar system runs. (Defaults to
primary vessel)
-port serialport Serial Port to use. Defaults:
• Solaris: /dev/ttya
• Linux: /dev/ttyS0
• HPux : /dev/tty00
• AIX : /dev/tty0
• PowerRTNU: /octal/0
-baud baudrate Serial Comms baudrate. (Default 9600)
-bits databits Serial Comms data bits. (Default 8)
-par parity Serial Comms parity. (Default No Parity (E/O/N))
-stop stopbits Serial Comms stop bits. (Default 1)
-nocksum Disable RATTM message checksum verification.
-nohdg Disable the output of the HDG (Heading) messages.
-h Show parameter description.
-debug debug_val Debug Mode.
0 - To screen (default)
1 - To file (/tmp/vir_log)

Example
viradar -vessel V1 -port /dev/ttyb -baud 19200 -bits 7 -par E -stop 1
Interfaces Manual VIRTUAL INTERFACES

Virtual Interface for Seaprobin

Code Name n/a
INT File
Group VIRTUAL

This interface is specific to Spectra.

VISPB is a virtual socket-based interface to Seaprobin. It receives shot, gun, and netsolution
data and prepares this information to send to Seaprobin. When on-line, information about the
current shot (TIR) is sent to Seaprobin for every shot. When off-line, it is sent at regular intervals
(default is every 5 seconds).
VISPB also receives Acoustic Doppler Profiler information and sends this information (Current)
on to Seaprobin at low cadence (default is 1 minute).
The VISPB runs on a workstation, is normally started from the monitor node and an interface for
the Acoustic Doppler Profiler and port number for the interface must be specified.
A data server must be running for VISPB to connect correctly. If there is no data server running
when VISPB is started, its connection will be refused and must be restarted once a data server is
running.
No data items are produced by VISPB.
The following items are consumed: NETSOLUTION; GUNDATA; TRACE_EDIT; LINESTATUS;
CURRENT; SNNCONF; LMNCONF; RTCNCONF; data item for the specified Acoustic Doppler
Profiler.

VISPB Command Line

VISPB flags
-port portnumber Mandatory argument. Port number to use.
-int interface name Mandatory argument. Name of interface to gather Acoustic Doppler
Profiler information.
-wtimeout secs Write timeout in seconds. Default is 5 seconds.
-debug n Show debug information every n traces (default is 400).
-audit Show audit information about TIR and Current structure before and
after creation and transmission.
-sendtimeout mins Current transmit timeout in minutes (default is 1 minute).
-maxtrace n Maximum number of traces that can be transmitted.
-notimeoutbin Do not bin timed out shots. The default is to bin them.
-depth n Tranducer depth in metres (default is 0.0)

Example
vispb -port 55756 -int CP_NORTEK_ADP -maxtrace 1000 -debug 200

23-21
Virtual Interface GGA
Code Name n/a
INT File RG_V_GGA
Group VIRTUAL

This interface is specific to Spectra.

This virtual interface generates range and bearing information between the vessel’s current
position and a positon provided via a NMEA message. Its main use is the positioning of
tailbuoys.
Two NMEA message types are supported - GGA (default) and RMC. For details of the GGA
format refer to “NMEA GPGGA Output String” on page 20-4. The RMC format is described
below.

Typical ASCII String

$GPRMC,030445.5,A,4433.43,N,05015.02,E,2.5,,0305022.1,E*34<CR><LF>
Description Form Column
Start Chars $GPRMC 1
UTC of Position Fix [Link] 2
Status A - Data valid 3
V - Nav Receiver Warning
Latitude [Link] 4
Direction of Lat N - North 5
S - South
Longitude [Link] 6
Direction of Long E - East 7
W - West
Speed Over Ground x.x (knots) 8
Course Over Ground x.x (degrees True) 9
Date ddmmyy 10
Magnetic Variation x.x (degrees) 11
Variation Direction E - East 12
W - West
CRC 13
CRLF AA 14

Running the Node

The virtual interface connects to the NMEA device via a serial port which must be defined on
the command line. The user must also provide the name of the interface to which the
positioning data is related. The virual interface consumes the item
@INTERFACE@interface_name and produces its output in @RAW@interface_name items.

Command line options

Startup parameters are as follows:
Interfaces Manual VIRTUAL INTERFACES

virg_gga -iface interface_name -port serialport [-baud rate] [-RMC] [-dbg debug_val]
[-h]
where:
-iface interface_name Interface to use
-port serialportq Serial Port to use
-baud rate Baud rate to work at. Default is 9600
-RMC User the RMC message instead of the default GGA
-debug debug_val Debug mode. 0 = to screen (default) 1 = to file (/tmp/vig_log)
-h Display command line options

25-21
Virtual Interface Posnet
Code Name n/a
INT File DG_V_VIP_SHIP_POS
RG_V_VIP_POS
RAWG_V_VIP_POS
RTCM_V_VIP_POS
Group VIRTUAL

Introduction
The virtual interface for Posnet (VIP) is a Spectra/Gator common code virtual interface,
providing both raw and resolved positioning data from a host Posnet system to a data server.
Posnet is a vessel-borne Western Geophysical positioning system. It provides a differentially
corrected vessel position, tracks tailbuoys (or ‘in-water targets/pods’) and generates vessel
local RTCM.
The differentially corrected vessel position is generated using raw GPS data received from
Posnet reference stations. RTCM from shore based differential correction stations can also be
used in solving for vessel position. Note that there is a difference between Posnet reference
stations (they send raw GPS data to the Posnet system) and RTCM reference stations (they
send RTCM differential corrections to the vessel).
The in-water targets (pods, tailbuoys) are positioned with an accuracy based on that achieved
for the vessel.
The VIP interfaces to Posnet via a single socket connection. After an initial (minimal)
prompting by the VIP, Posnet will start chucking out all sorts of data. The VIP does not need to
poll Posnet. Once the initial request has been made no further communication to Posnet is
required.
The VIP takes the returned data, decodes it and returns some of it to the data server via a
number of virtual interfaces. The interfaces are configured in the standard way (via the
RTCN). The four interface types generated by the VIP are (by default) called
DG_V_VIP_SHIP_POS, RG_V_VIP_TARGET_POS, RAWG_V_VIP_POS and
RTCM_V_VIP_POS. The original VIP provided only SHIP_POS and TARGET_POS
interfaces. These still work the same way although the interfaces are now standard interfaces
and extra data is returned.
The data returned by Posnet can be grouped as follows:
Vessel receiver position data RG_V_VIP_SHIP_POS
Vessel receiver raw GPS data RAWG_V_VIP_POS
Vessel receiver ephemeris data RAWG_V_VIP_POS
Target receiver relative positioning data RG_V_VIP_TARGET_POS
Target receiver raw GPS data RAWG_V_VIP_POS
Posnet reference station raw GPS data RAWG_V_VIP_POS
RTCM reference station generated corrections RTCM_V_VIP_POS
Posnet generated RTCM corrections RTCM_V_VIP_POS

DG_V_VIP_SHIP_POS interface is a standard DGPS interface. It returns data for the

differentially corrected absolute position of the Posnet vessel receiver (lat, long etc)
Interfaces Manual VIRTUAL INTERFACES

RG_V_VIP_TARGET_POS interface is a standard RGPS interface. It returns data for the

relatively positioned in-water targets (range, bearing to each target etc)
RAWG_V_VIP_POS interface is a standard raw GPS interface. It returns raw GPS observables
for all receivers (vessel, Posnet reference, targets). Defined channel names in the RTCN
determine which receivers data will be passed back to the data server.
RTCM_V_VIP_POS interface is a standard differential correction interface. It returns differential
corrections for all RTCM sources. This includes both pass through RTCM (from shore based
differential correction stations) and Posnet generated RTCM. A separate RTCM_V_VIP_POS
interface is defined for each source of RTCM. Defined channel station IDs within a given interface
in the RTCN determine which reference station data to extract (and pass back) from a particular
RTCM source.

Setting up the RTCN

The required set of virtual interfaces must be added to the RTCN setup and configured. A
DG_V_VIP_SHIP_POS and RG_V_VIP_TARGET_POS are mandatory for VIP operation. The
default names can be changed but they must match in the RTCN and the VIP command line.
Once virtual interfaces are added they behave just like normal interfaces for setup and
configuration.
From the main menu: Options|Virtual Interfaces then Options|Add Interface
DG_V_VIP_SHIP_POS
Just need to add this interface. Standard DGPS interface. Required by VIP.
RG_V_VIP_TARGET_POS
Just need to add this interface. Standard RGPS interface. Required by VIP.
RAWG_V_VIP_POS
Add the interface. Standard "Raw GPS" interface. Optional for VIP.
To configure interface go into "Update" dialog. What you need to do is to set up a channel for
each receiver you want to monitor raw GPS from. The set of receivers you can monitor includes
vessel, target and posnet reference stations. You need to name the channel according to the
following convention. (Note other raw GPS interfaces require you to set up the channel receiver
ID, with this interface it is the channel NAME you need to setup. This is a fudge to allow longer
IDs (channel names can be bigger than receiver IDs). The naming convention is:
Vessel rxvr - "Vessel"
In water target rxvr - posnetReceiverName (Target name as defined in Posnet) In posnet each
target is given a symbolic name. This can be up to 80 chars long. We will only match to the
maximum allowable channel name length (32 chars). NB. Matching is precise, include spaces,
capitalisation etc
Posnet Ref Station rxvr - "PosnetRef:" stnID ":" rxvrID (stnID and rxvrID as defined in Posnet)
Each Posnet reference station has a unique ID (ID 0 to 63). Each Posnet reference station can
have up to 3 receivers (ID 1 to 3)A channel configured to monitor receiver 2 at station 45 would
be named "PosnetRef:45:2"
Important - configuration MUST obey the following rules
• "Posnet" bit is hardwired
• ":" used to separate
• No spaces around IDs
Note: This particular interface requires very precise configuration.
For example if we wanted to monitor raw GPS from 7 receivers (Vessel, 3 targets, 2 receivers at
one ref station and 1 at another) we might set up 7 channels with names like:
"Vessel" Hard wired vessel channel name
"Tailbuoy #1" Target name as defined in Posnet
27-21
"Starboard Gun Float" Target name as defined in Posnet
"Port Gun Float" Target name as defined in Posnet
"PosnetRef:45:1" "Posnet" bit hard wired. Station and receiver ID as defined in Posnet
"PosnetRef:45:2" "Posnet" bit hard wired. Station and receiver ID as defined in Posnet
"PosnetRef:23:1" "Posnet" bit hard wired. Station and receiver ID as defined in Posnet

RTCM_POS
Add the interface. Standard "RTCM" interface. Optional for VIP.
You need to add an RTCM_V_VIP_POS interface for each RTCM source you wish to monitor.
The name of the interface must be changed to match the name for the source defined in
Posnet. Since interface names cannot have spaces, you must replace spaces with
underscore ("_") characters.
For example if we want to monitor a Posnet RTCM source defined as "RTCM Input (DCI)" we
should add an RTCM_V_VIP_POS interface and name it "RTCM_Input_(DCI)".
To configure the interface go into "Update" dialog. What you need to do is to set up a channel
for each RTCM station ID you want to monitor from that RTCM source. (a source may supply
many stations).
For example if we wanted to monitor station 100 and 101 from source "RTCM Input (DCI)" and
stations 100 and 102 from source "RTCM Input (WGC)" we need to set up two interfaces each
with two defined channels:
Interface Name Channel Station ID
"RTCM_Input_(DCI)"
"100"
"101"
"RTCM_Input_(WGC)"
"100"
"102"

VIP Command Line

The VIP is a command line Spectra/Gator node. When run it will generate a number of
@RAW@ items for the data it is configured for. When running the VIP you must inform it of the
names of the interfaces already configured in the RTCN that you wish to use. Command line
takes the form
vip -h
or
vip posnetHostName [-DBG] [-BEnd] [-LOG logFileName] -S shipPosIF -W targetPosIF
[-Raw rawGPSPosIF] [-RTCM RTCMPOSIF]
where:
posnetHostName The hostname (or IP address) of the posnet computer
-DBG Cause the VIP to dump debug messages to screen
-BEnd Server (Posnet) is BigEndian (not usually the case)
-LOG logFileName Name of file to log raw incoming Posnet data to. This file can be
used in-office to replay Posnet activity.
-S shipPosIF Name of interface (as defined in RTCM) for vessel position data. By
default this will be DG_V_VIP_SHIP_POS
Interfaces Manual VIRTUAL INTERFACES

-W targetPosIF Name of interface (as defined in RTCM) for target relative position
data. By default this will be RG_V_VIP_TARGET_POS
-Raw rawGPSPosIF Name of interface (as defined in RTCM) for raw GPS data. By
default this will be RAWG_V_VIP_POS
-RTCM RTCMPosIF Name of interface (as defined in RTCM) for RTCM differential
correction data. By default this will be RTCM_V_VIP_POS

• First form just displays up to date parameter listing/description. Second form is the one to
use when actually running the VIP in anger.
• Required parameters are posnetHostName, -S and -W. All other parameters are optional.
Multiple RTCM interfaces can be defined (one for each RTCM source to be monitored).
Default Channels - SHIP_POS interface
Channel Description Notes
1-101 As “Standardised DGPS Channel Allocation” on page 1-4.
102-(15 x n) n = Number of Satellites Defaults to 32 satellites

Default Channels - TARGET_POS interface

Channel Description Notes
1-42 As “Standardised RGPS Channel Allocation” on page 1-14.

29-21
Virtual Interface SIPS
Code Name n/a
INT File AC_V_SIPS
Group VIRTUAL

This interface is specific to Spectra. The VISIPS process is a virtual interface that runs on any
Spectra workstation and provides acoustic and velocimeter information to the Spectra Data
Server. VISIPS communicates to Sonardyne’s SIPS2 acoustic stystem via a TCP socket,
defined only by a port number, as VISIPS acts as a server.

Setting up SIPS2 in the SCN

There are two areas to set up in the SCN, the interface to the acoustics and to the
velocimeters. Note that although these are defined separately in the SCN, the same interface
should be selected for each as it is capable of carrying both acoustic ranges and velocimeter
data.
The incoming data stream takes the form of three different message types:
2 Transmitter delay information
101 SIPS2 observation data (range/velocimeter data)
253 Hearbeats

The data contained within message types 2 and 101 is inserted into the corresponding
sections of the RAW item.

Data Returned
The SIPS2 interfaces will contain data for acoustic nodes and velocimeters as defined in the
SCN. In addition, each observation will have an individual timestamp calculated using the
contents of the Tx delays messages.
See the “Standardised Acoustic Channel Allocation” on page 1-1 for details of channel
allocations.
NOTE: only one channel of information (speed of sound through water) is returned per
velocimeter defined.

Running VISIPS
The VISIPS process should be started by adding a line in the Spectra [Link] file. Startup
parameters are as follows:
visips -A acoustic _int_name [-P port_number] [-T trigger_name] [-dbg] [-dbg_verbose]
[-dbg_hexdump] [-h]
where:
-A acoustic_int_name The name of the interface in which the acoustic and/or
velocimeter observations are returned
-P port_number The port on which the TCP socket should be created. (If
omitted, defaults to port number 9003).
-T trigger_name The name of the @TRIGGER@ item to use for timing.
(Defaults to SIPS2)
-dbg Basic debug is produced.
Interfaces Manual VIRTUAL INTERFACES

-dbg_verbose A greater amount of debug is produced.

-dbg_hexdump All incoming data from the socket is written to file.
-h Display command line options.

31-21
Virtual Interface to the MRDGPS
Code Name n/a
INT File RAWG_V_MRDGPS
RTCM_V_MRDGPS
RG_V_MRDGPS
RG_V_SEATRACK
DG_V_MRDGPS
DG_V_TRIMBLE_PCALC
DG_V_FUGRO_XP
Group VIRTUAL

The VIMRDGPS system is a virtual interface that runs on the UNIX workstation providing
positioning data from a Fugro RDGPS system via a UDP socket connection defined by the
name of the server and a port number.
The vimrdgps process decodes different message formats and produces @RAW@ items to
the data server. You can run single or multiple vimrdgps processes to decode either a single
message or a set of messages of the data formats detailed below. The corresponding
interface name configured in the RTCN must be specified on the command line when starting
each vimrdgps process.

Data Formats
The following data formats are decoded by the vimrdgps:
Message Format Data Returned
RAWGPS and RTCM Correc- 1. Pseudorange, Ephemeris, Ionosperic & UTC, Almanac
tions. The format of these data RAW GPS data if the RAWG_V_MRDGPS interface is
messages is ASCII P2/94 for- specified.
mat records: T55, T56, T63 2. RTCM reference station correction data if the
and T65 records (see UKOOA RTCM_V_MRDGPS is specified on the command line.
P2/94 format spec pdf).
Trimble Pos Calc Position Out- Differential GPS position data if the DG_V_TRIMBLE_PCALC
put interface is specified. String format as detailed in ’Trimble 4000
GPS Position & Calculation’ interface description.
PGS Format RGPS Relative GPS data if the RG_V_MRDGPS interface is specified.
String format as detailed in ’Fugro RGPS Tailbuoy Tracking –
Fugro Geotem AS’ interface description.
PGS Format DGPS Differenial GPS data if the DG_V_MRDGPS interface is
specified. String format as detailed in ’FUGRO MRDGPS QC
Output’ interface description.
Seatrack RGPS data Relative GPS data if the RG_V_SEATRACK interface is
specified. String format as detailed in ’Seatrack Tailbuoy
Tracking System - Seatex AS’ interface description.
Fugro XP DGPS data Differential GPS data if the DG_V_FUGRO_XP interface is
specified. String format as detailed in ’FUGRO XP Expanded
and Concise Format’ interface description.
Interfaces Manual VIRTUAL INTERFACES

Setting up MRDGPS in the RTCN

In the Virtual Interface list of the RTCN, add one or more of the above interfaces as required. You
can also edit the name in the interface editor if required.

Setting up MRDGPS in the SCN (for Spectra)

In the “Raw GPS Logging” section of the SCN, each of the sections (DGPS, RGPS, RTCM,
Ephemeris, Ionosphere & Almanac) should be set up in the normal way. However, the RGPS
Receiver IDs and the RTCM station IDs must be set according to the mapping configured by the
MRDGPS system.

Setting up MRDGPS in the SNN (for Gator)

The GPS section of the SNN should be set up as normal with the relevant entries for MRDGPS
entered in each of Satellite System, GPS Corrections, Satellite Receivers Configuration and
RAW GPS Configuration options.
RGPS Receiver IDs
When setting the source for the Relative GPS, the “Vessel Receiver ID” must be set correctly.
This field, normally set to “VES:”, is editable in the case of the MRDGPS configuration and should
be set to a number that maps to the Vessel Receiver ID as set up in the MRDGPS system.
RTCN Correction Station IDs
When entering the correction station ID, the number entered is in fact the ID that has been
configured by the MRDGPS system that is mapped to the actual correction station ID. Normally,
correction station IDs have 3 characters, however, the ID that is output in the T65 record has only
2 characters, therefore the MRDGPS system has to map the correction station ID to its own
internal ID.

MRDGPS Operation Tips

• To stop the MRDGPS programs, click on the red traffic light on the Control Menu Bar.
Close any programs that are running by selecting them from the list.
• To start the MRDGPS system, first run up the Control Process. This brings up the Control
Menu Bar. Click on the green traffic light and select GPS/MRDGPS and MAIN/IOWIN
from the list. IOWIN is the data input/output configuration and control program. MRDGPS
is the DGPS calculation and QC program.
Configuring a new data ouput in the MRDGPS IOWIN program
1. Select Device/New. From the list, select the required data type. See ‘Data Types’ above for
details of the data types that can be decoded by the vimrdgps.
2. Select Network as the output device and edit the IP address and UDP port. A window
appears containing the data messages selected.

VIMRDGPS Command Line

vimrdgps -intf int1name [-intf int2 name -intf...] -S server_address -P port_number
[-dbg] [-dbg verbose] [-dbg hexdump] [-h]
VIMRDGPS flags
-intf int_name Specify int_name as the interface. VIMRDGPS works out the
interface type. You cannot have more than one interface of the same
type, with the exception of RTCM interfaces.
-S server_address Set name or address of the UDP server
-P port_number Set host's UDP port number (5050 by default).
-dbg Produce a basic debug.
-dbg_verbose Produce a verbose debug.

33-21
-dbg_hexdump Produce a debug with hexdump of all ethernet messages.
-h Show parameter description.
Interfaces Manual VIRTUAL INTERFACES

Virtual Interface Triggers

Code Name n/a
INT File GN_V_TRIGGERS
Group VIRTUAL

This interface data is produced by the RTNU/RTNµ at the end of every shot cycle. It is a standard
gun type interface which contains additional timing information. If the RTNU is interfaced to an
SSS, the Array Fired ID will be returned. No other gun information is available. The interface has
to be defined in the Virtual Interface section of the RTCN before RAW data will be produced.

Allocated Channels
Channel Description Notes
1-20 As per “Standardised Gun Channel Allocation” on page 1-7
21 Shot Predicted Firing The predicted firing time as calculated by the NCN.
Time
22 System Start Time If an O/P trigger is defined with the characters “SST” as part
(SST) of its name, then the time of that trigger is returned here.
Otherwise, the predicted time is returned.
23 Timebreak Time (TB) The firing time of a trigger (I/P or O/P) that is marked as the
“shot” trigger or has the characters “TBA1”, “TBA2”, “TBA3”
or “TBA4” as part of its name will be returned here.
24 Delta SST-TB The difference of the SST trigger and the Timebreak (TB)
trigger.
25 Shot time difference The time difference between the current and last shot.
26 Predict receipt time The time the RTNU received the prediction used to fire the
shot
27 GPS Time The GPS time the NCN used to produce the prediction
28 Internal Timebreak flag BOOLEAN flag that denotes whether an internal shot (TB)
was generated. This will occur during muli-vessel operation
when the remote vessel’s guns fire.
29 RST Time If an O/P trigger has the characters “RST” defined within its
name, then this field will contain its firing time.
This interface does NOT return any individual gun information

The units of the above times are in decimal seconds. Absolute times (e.g. SST/TB/RST times)
are measured in decimal seconds from the UNIX standard epoch, i.e. 1st January 1970.

35-21
Interface Manual Index

Index
In this index, all interfaces are indexed by name, code name, and interface file name. The code name is in
lower case letters whereas the interface file name is in capitals. If you are viewing this manual online via
the Acrobat Reader, click on an entry to jump to that particular interface’s documentation.

Numerics Black Box Depth Repeater ............................. 4-5

Black Box Gyro .............................................. 3-8
4C Gun Depth/Pressure Unit Interface........... 3-7
4C Gyro Interface ........................................... 1-8
C
A Cable Depths From Western MSC1 and MSC2
Units ............................................................. 1-21
AC_DIGAC ..................................................... 2-1
CM_DIGI_293 ................................................ 8-2
AC_DIGAX ..................................................... 3-1
CM_DIGI_BIRD_DEPTHS ............................. 5-2
AC_PGS_SIPS............................................... 7-1
CM_DIGI_COMP_A ....................................... 6-2
AC_SIPS_BINARY ......................................... 5-1
CM_DIGI_PSIB .............................................. 1-2
AC_SIPSB2 .................................................. 12-1
CM_DIGI_TS.................................................. 1-2
AC_SIPSSVC ............................................... 11-1
CM_SYNTRON_CUS .................................. 13-2
AC_SYNTRON_MULTITRAK....................... 13-1
CM_SYNTRON_MULTITRAK...................... 11-2
AC_SYNTRON_MULTITRAK_O.................. 13-1
CM_V_DIGICOURSE_CMP ...................... 17-21
AC_V_DIGICOURSE ................................. 17-21
CM_V_MSX1_DEPTHS ............................... 1-21
AC_V_SIPS ................................................ 30-21
CM_V_MSX2_DEPTHS ............................... 1-21
AC_WESIPS................................................... 9-1
CNAV Binary RAWGPS ............................... 1-13
acongds .......................................................... 6-7
cnavrawg ...................................................... 1-13
adeso.............................................................. 2-5
Consilium Marine Speed Log ....................... 5-17
adesom........................................................... 2-5
CP_NORTEK_ADP ........................................ 4-3
Air Pressure Sensor Interface ........................ 1-6
CP_RDI_BAND .............................................. 6-3
aircon.............................................................. 4-7
CP_SEIS_ADCP ............................................ 3-3
Aircon Gun Controller ..................................... 4-7
CRS Virtual Gun Interface............................ 2-21
Aircon Gun Controller - GDS .......................... 6-7
airpress........................................................... 1-6
anscbn ............................................................ 2-8 D
Anschutz Standard 20 Gyro Compass ........... 2-8 deso15 ........................................................... 3-5
Applied Microsystems SVP-16 Sound Velocity df32 .............................................................. 15-5
Profiler .......................................................... 2-17 dfs .................................................................. 5-5
aquarius_g.................................................... 5-13 DFS6000 Echo Sounder ................................ 5-5
aquarius_r..................................................... 2-15 dfstar ............................................................ 14-4
argo .............................................................. 1-12 DG_AUXCOM3 ............................................ 44-4
Argo Standard, Option 'A' & ONI .................. 1-12 DG_BATES .................................................. 40-4
ashadu.......................................................... 9-11 DG_DIFSTAR .............................................. 14-4
ATLAS DESO 15 Echosounder...................... 3-5 DG_EXTERN ............................................... 39-4
ATLAS DESO 20 via TSS 320B Heave Compen- DG_FUGRO_XP_FORMAT ......................... 10-4
sator.............................................................. 3-11 DG_GECO_QC ............................................ 33-4
ATLAS DESO 25 Echosounder...................... 2-5 DG_INS ........................................................ 41-4
aux3.............................................................. 44-4 DG_MAGNAVOX_4200 ............................... 16-4
DG_MICROFIX .............................................. 5-4
B DG_MRDGPS ................................................ 6-4
DG_NMEA_GGA ......................................... 20-4
BATES OBC Serial Interface........................ 1-10
DG_NMEA_GGK ......................................... 24-4
batesbc ......................................................... 1-10
DG_NR101................................................... 27-4
batesvs ......................................................... 40-4
DG_NR203M................................................ 25-4
bbecho............................................................ 4-5
DG_RACAL_UKOOA ................................... 28-4
bbgyro............................................................. 3-8
DG_SARGAS ............................................... 31-4
Bell Aerospace Gravity Meter BGM3 Format . 2-6
DG_SEADIFF............................................... 32-4
bgm................................................................. 2-6
DG_SEAPRO ............................................... 34-4
BIGSHOT ....................................................... 7-7
DG_SMART_BIN ......................................... 18-4
bigshot ............................................................ 7-7

Index i
Index Interface Manual

DG_SOJ_GEN ............................................. 36-4 EC_INNERSPACE_449 ................................. 8-5

DG_TRIMBLE_BIN_POS ............................. 43-4 EC_INNERSPACE_DEEP_ECHO................. 9-5
DG_TRIMBLE_PCALC................................. 46-4 EC_INNERSPACE_SHALLOW_ECHO ......... 9-5
DG_V_FUGRO_XP .................................... 32-21 EC_KAEL ..................................................... 12-5
DG_V_MRDGPS ........................................ 32-21 EC_KAIJO .................................................... 11-5
DG_V_SPCN_CONCISE ........................... 13-21 EC_MARIM103 ............................................ 13-5
DG_V_SPCN_VERBOSE .......................... 13-21 ECHO_FURUNO............................................ 7-5
DG_V_TRIMBLE_PCALC .......................... 32-21 ELAC LAZ 4700 Echosounder Output ........... 6-5
DG_V_VIP_SHIP_POS .............................. 26-21 EML Speed Log ........................................... 5-17
DG_WPNET16 ............................................. 48-4 ext ................................................................ 39-4
DGPS MICROFIX........................................... 5-4
dig293............................................................. 8-2 F
digac ............................................................... 2-1
fanb ................................................................ 6-9
digaxd ............................................................. 3-1
fanbst ............................................................. 5-9
digbd............................................................... 5-2
fech ................................................................ 7-5
digca ............................................................... 6-2
Fugro Gravity ................................................. 8-6
digi .................................................................. 7-6
Fugro Magnet ............................................... 10-6
Digicon - Multi Vessel Block Interface ............ 3-6
FUGRO MRDGPS QC Output ....................... 6-4
Digicon NIC Output......................................... 6-6
Fugro RGPS Tailbuoy Tracking _ Fugro Geotem
Digicourse 293 Streamer Depth / Compass Inter-
AS ................................................................ 3-14
face................................................................. 8-2
FUGRO SEIS ADCP string ............................ 3-3
Digicourse Acoustics - ECHO Extended Host 2-1
FUGRO XP Expanded and Concise Format 10-4
Digicourse Acoustics - Extended Acoustic Proto-
fugtb ............................................................. 3-14
col ................................................................... 3-1
FURUNO Echosounder.................................. 7-5
Digicourse Bird Data, Extended Binary Format1-2
Furuno Speed Log ....................................... 5-17
Digicourse Bird Depth / Angle Interface ......... 5-2
Digicourse Compass ASCII Format................ 6-2
Digicourse TZ OBC Virtual Interface ............ 3-21 G
Digiquartz Pressure / Depth Interface ............ 7-6 g801 ............................................................. 11-6
digmvb ............................................................ 3-6 gal ................................................................ 4-17
digpb............................................................... 1-2 Galatee Mk3 Speed Log - NMEA Sentence. 4-17
digts ................................................................ 1-2 gdru ................................................................ 3-7
DMS SYNTRAK 480 log header for QC ....... 1-20 gecoqc.......................................................... 33-4
dnic ................................................................. 6-6 Geometrics G801 Magnetometer ................. 11-6
Doppler Finder (Colour) JLN-615 Speed Log3-17 GMU ............................................................. 13-7
Dynamic Motion Sensor string - TSS format - gmu .............................................................. 13-7
Pitch, Roll and Heading ................................ 4-11 GN_4CGDRU................................................. 3-7
GN_AIRCON .................................................. 4-7
E GN_AIRCONGDS .......................................... 6-7
GN_BIGSHOT................................................ 7-7
ea2.......................................................17-5, 18-5
GN_GMU ............................................ 12-7, 13-7
ea2b6............................................................ 17-5
GN_GUNDA ................................................. 14-7
ea5................................................................ 20-5
GN_HDG ...................................................... 20-7
ea5a.............................................................. 20-5
GN_HORGC................................................. 17-7
ea5m............................................................. 20-5
GN_LRS ....................................................... 23-7
EC_ATLAS_DESO ......................................... 2-5
GN_LRS100 ................................................. 21-7
EC_ATLAS_DESO_M .................................... 2-5
GN_MACHA ................................................. 24-7
EC_ATLAS_DESO15 ..................................... 3-5
GN_MERV ................................................... 26-7
EC_BLACK_BOX_ECHO............................... 4-5
GN_NPP6000_PRES................................... 27-7
EC_DF3200.................................................. 15-5
GN_OMEGA ................................................ 29-7
EC_DFS6000 ................................................. 5-5
GN_REFTEK................................................ 30-7
EC_EA200.................................................... 17-5
GN_REFTEK_DEPTH.................................. 32-7
EC_EA200_B6 ............................................. 17-5
GN_SGC_CGG ............................................ 36-7
EC_EA200_PIU............................................ 18-5
GN_SURESHOT .......................................... 34-7
EC_EA500.................................................... 20-5
GN_SYNTRON_V1 ...................................... 38-7
EC_EA500A ................................................. 20-5
GN_SYNTRON_V2 ...................................... 40-7
EC_EA500M................................................. 20-5
GN_TOPSHOOTER..................................... 44-7
EC_ELAC_LAZ4700....................................... 6-5
GN_TRIGUN ................................................ 46-7
EC_INNERSPACE ....................................... 10-5

Index ii
Interface Manual Index

GN_TRIGUN_F2 .......................................... 46-7 itx10_.............................................................. 9-5

GN_V_HORIZON_GUN ............................... 9-21
GN_V_SSS_DEPTHS .................................. 4-21 J
GN_V_SSSCRS ........................................... 2-21
jecbt.............................................................. 4-14
GN_V_TRIGGERS ..................................... 35-21
jecbto............................................................ 6-14
gravity ............................................................. 8-6
John Chance Buoytrak III - Digicon Format . 4-14
Gun & Pinger Depths From Western SSS Unit 4-
John Chance Buoytrak III - Original System 6-14
21
Gun External Header Manifold Pressure Interface
12-7 K
gunda............................................................ 14-7 kaeh ............................................................. 12-5
GUNDA Gun Controller ................................ 14-7 kaijo .............................................................. 11-5
GY_ANSCHUTZ_STANDARD20 ................... 2-8 KAIJO ECHOSOUNDER string.................... 11-5
GY_BLACK_BOX_GYRO .............................. 3-8 Kongsberg Diffstar Output............................ 14-4
GY_GYRO4C ................................................. 1-8 Krupp Atlas Elektronik Hydrosweep ............. 12-5
GY_LEHMKUHL_40....................................... 7-8 KSS31 .......................................................... 16-6
GY_LR22........................................................ 6-8 kss31 ............................................................ 16-6
GY_NMEA_GYRO ......................................... 8-8
GY_RGC11S_GYRO ..................................... 9-8
L
GY_SG_BROWN_GYRO............................. 10-8
GY_WESTERN_PITCH_ROLL .................... 11-8 lazecho ........................................................... 6-5
gyro................................................................. 7-8 Lehmkuhl LR22 .............................................. 6-8
gyro4c............................................................. 1-8 Lehmkuhl LR40/60 & Robertson .................... 7-8
Load Cell - PGS Interface ............................ 3-18
locell ............................................................. 3-18
H lr22 ................................................................. 6-8
hdg................................................................ 20-7 lrs100 ........................................................... 21-7
hfix ................................................................ 2-12 LRS100 Gun Controller ................................ 21-7
hgd................................................................ 17-7 LRS100 Gun Controller (32 Gun) - PGS Version
HIPAP USBL Virtual Interface ...................... 5-21 23-7
Horizon Gun Data Socket Interface.............. 9-21 lrs100pg ....................................................... 23-7
Horizon Gyro .................................................. 4-8 LS_FANBEAM ............................................... 6-9
Horizon RTNU Gun Controller Header ......... 17-7 LS_FANBEAMST ........................................... 5-9
Horizon Shot Header .................................... 12-6 LS_MARS ...................................................... 1-9
horzhd........................................................... 12-6 LS_MARS2 .................................................... 3-9
HPR309 ........................................................ 6-11 LS_MDLMARS ............................................... 8-9
hpr309 .......................................................... 6-11 LS_MDLMARSF........................................... 10-9
Hydra Pulse .................................................. 19-7
hydronav....................................................... 14-6
M
HYDRONAV Navigation Header Processing Inter-
face............................................................... 14-6 Macha .......................................................... 24-7
Hydropulse ................................................... 20-7 macha .......................................................... 24-7
Hyperfix ........................................................ 2-12 Magnavox PMVXG Output String ................ 16-4
hyssas .......................................................... 1-18 magnet ......................................................... 10-6
Hystad Electronik Shock Absorber System .. 1-18 manifold........................................................ 12-7
Marconi Smart Antenna Positional Interface 18-4
Marconi Smart Antenna Raw GPS Interface 2-13
I marim103 ..................................................... 13-5
image............................................................ 15-6 Marimatech 103 Deso 25 output string ........ 13-5
Innerspace 449 Fathometer Output String ..... 8-5 mars ............................................................... 1-9
Innerspace Technology Echosounder ............ 9-5 MARS (Marine Angle Ranging System) ......... 1-9
Innerspace Technology Thermal Depth Sounder mars2 ............................................................. 3-9
Recorder Model 449 ..................................... 10-5 MARS2 (Marine Angle Ranging System) ....... 3-9
Input/Output Image System - Shot Message String MDL Fanbeam Single Target ......................... 5-9
15-6 MDL Lasertrack Fanbeam.............................. 6-9
ins ................................................................. 41-4 MDL MARS .................................................... 8-9
insp449 ........................................................... 8-5 MDL MARSF ................................................ 10-9
it_x01_ ............................................................ 9-5 MDL Trim Cube Inclinometer ....................... 8-11
itdepth........................................................... 10-5 mdlinc ........................................................... 8-11

Index iii
Index Interface Manual

mdlmars.......................................................... 8-9 P
mdlmrsf......................................................... 10-9
p8mk7 .......................................................... 5-12
Merv.............................................................. 26-7
PGS John E. Chance III Format................... 7-14
merv.............................................................. 26-7
pgsbt ............................................................ 7-14
mfix ............................................................... 4-12
pgsips ............................................................. 7-1
microfix ........................................................... 5-4
PH_ATLAS_DESO20................................... 3-11
MRDGPS.................................................... 32-21
PH_HPR309................................................. 6-11
mrdgps............................................................ 6-4
PH_MDL_TRIM_CUBE ................................ 8-11
Multifix QC output string ............................... 28-4
PH_NMEA .................................................. 11-11
MWV............................................................. 5-17
PH_NMEA_GPPAT_PASHR ....................... 9-11
mxv4200 ....................................................... 16-4
PH_SEAPATH ........................................... 16-11
PH_SEAPATH_200 ................................... 18-11
N PH_TSM_5265........................................... 19-11
NCS SVS5000 Tailbuoy Tracking System - Digi- PH_TSS_GEN ............................................. 4-11
con/Spectra Format ...................................... 4-14 PH_V_SNS .................................................. 5-21
Newport P6000 Gun Manifold Pressure Interface phnmea ...................................................... 11-11
27-7
NMEA GGK .................................................. 24-4 Q
NMEA GPGGA Output String....................... 20-4
QPS.............................................................. 44-4
NMEA GPPAT/PASHR Output String .......... 9-11
NMEA Gyro .................................................... 8-8
NMEA NR203 Multi string............................. 25-4 R
NMEA PRH Interface.................................. 11-11 racal ............................................................. 28-4
NMEA SDDBT String.................................... 14-5 Racal Microfix............................................... 4-12
NMEA Speed Log......................................... 5-17 Racal Pulse 8 Mk 7 ...................................... 5-12
NMEA ZDA Interface .................................... 2-20 Racal UKOOA Sentence .............................. 28-4
NMEA_ANY.................................................. 19-6 RAWG_AQUARIUS ..................................... 5-13
nmea_any..................................................... 19-6 RAWG_CNAV_RAW.................................... 1-13
NMEA_ZDA .................................................. 2-20 RAWG_NR103 ............................................. 6-13
nmeagy........................................................... 8-8 RAWG_SMART_RAW ................................. 2-13
nmgga........................................................... 20-4 RAWG_TRIMBLE_RAW .............................. 7-13
nmggk........................................................... 24-4 RAWG_TRIMBLE_TSIP_6EW..................... 8-13
nmzda........................................................... 2-20 RAWG_V_MRDGPS .................................. 32-21
noradp ............................................................ 4-3 RAWG_V_VIP_POS .................................. 26-21
Nortek ADP Extended ASCII (with STX/ETX) 4-3 rdi ................................................................. 21-6
Novatel Beeline .......................................... 14-11 RDI ADCP Ensemble _ Broad/Narrow band (with
npp6000........................................................ 27-7 STX/ETX) ....................................................... 6-3
nr101 ............................................................ 27-4 RDI ADCP Interface ..................................... 21-6
NR101 DGPS Interface ................................ 27-4 rdiband ........................................................... 6-3
nr103 ............................................................ 6-13 reftek ............................................................ 30-7
nr103_r ......................................................... 3-15 Reftek Gun Controller................................... 30-7
nr203m ................................................25-4, 3-20 Reftek Gun Depths Interface........................ 32-7
NR203M Trigger Timestamping Interface .... 3-20 reftekdepth ................................................... 32-7
RG_FUGRO_TB .......................................... 3-14
O RG_GECO ................................................. 17-14
RG_JECO_BUOYTRAK............................... 4-14
OBC_BATES_ACOUSTIC ........................... 1-10
RG_JECO_BUOYTRAK_O.......................... 6-14
OBC_SONARDYNE ..................................... 2-10
RG_PGS_BUOYTRACK .............................. 7-14
OBC_SONTAG............................................. 3-10
RG_RTVEC.................................................. 8-14
OBC_V_SDYNE_RFID............................... 10-21
RG_SEATRACK_SGL_BUOY ................... 10-14
OBC_V_SDYNE_TZ................................... 12-21
RG_TOPKART ........................................... 15-14
OBC_V_SSB ................................................ 5-21
RG_V_GGA ............................................... 24-21
OBC_V_TZ_DIGI.......................................... 3-21
RG_V_MRDGPS........................................ 32-21
ODOM Hydrographic DF3200 Echosounder 15-5
RG_V_SEATRACK .................................... 32-21
Odom WG-1100A Velocimeter ..................... 7-17
RG_V_VIP_POS ........................................ 26-21
Omega.......................................................... 29-7
rgc11s ............................................................ 9-8
omega........................................................... 29-7
RGC11S Gyro ................................................ 9-8
rggeco ........................................................ 17-14

Index iv
Interface Manual Index

RMC ........................................................... 24-21 simg.............................................................. 3-19

RN_ARGO_STANDARD .............................. 1-12 SIMRAD EA200 Echosounder & 6 byte format
RN_HYPERFIX_STANDARD....................... 2-12 (..B6) ............................................................ 17-5
RN_PULSE8_MK7 ....................................... 5-12 SIMRAD EA200 PIU Echosounder .............. 18-5
RN_RACAL_MICROFIX............................... 4-12 SIMRAD EA300P Echosounder ................... 19-5
RN_RADIONAV_SB5................................... 7-12 SIMRAD EA500 Echosounder ..................... 20-5
RTCM 104 .................................................... 4-15 sipsb ............................................................... 5-1
RTCM QC Interface...................................... 1-16 sipsb2 ........................................................... 12-1
RTCM_AQUARIUS ...................................... 2-15 sipsv ............................................................. 11-1
RTCM_NR103 .............................................. 3-15 SkyTrac II GPS Remote Tailbuoy Tracking Sys-
RTCM_RTCM104......................................... 4-15 tem
RTCM_V_MRDGPS ................................... 32-21 Trimble Tailbuoy Output Format14-14
RTCM_V_VIP_POS ................................... 26-21 slug............................................................... 2-19
rtcm104......................................................... 4-15 SLUG Interface ............................................ 2-19
RTCMQC_V_STD ........................................ 1-16 smacid .......................................................... 13-1
RTVEC ......................................................... 8-14 smaco........................................................... 13-1
rtvec.............................................................. 8-14 smart_p ........................................................ 18-4
smart_r ......................................................... 2-13
S smcmp2........................................................ 11-2
soj................................................................. 36-4
S.G. Brown, SGB 1000S .............................. 10-8
SOJ Format .................................................. 36-4
Sagem Speed Log........................................ 5-17
Sonardyne OBC Acoustic System ............... 2-10
sargas........................................................... 31-4
Sonardyne RFID Tag reader Virtual Interface 10-
Sargas GPS Interface................................... 31-4
21
sb5................................................................ 7-12
Sonardyne RFID Tagging System ............... 3-10
SB5 Serial Interface...................................... 7-12
Sonardyne SIPS 1 Sound Velocity Output ... 11-1
scusb ............................................................ 13-2 Sonardyne SIPS 2 Binary Acoustic String ... 12-1
seadif ............................................................ 32-4 Sonardyne SIPS Acoustics ............................ 5-1
Seadiff DGPS - Trimble 4000 Position Format32- Sonardyne SIPS Acoustics Western SIPS Binary
4 Data Format ................................................... 9-1
Seadiff GECO............................................... 33-4 Sonardyne TZ OBC Virtual Interface ......... 12-21
Seadiff Raw GPS Interface........................... 4-13 sonobc.......................................................... 2-10
Seadiff RTCM Interface ................................ 1-15 sontag .......................................................... 3-10
seaking ......................................................... 23-6 SP_DOPPLER_LOG.................................... 3-17
SeaKing Bathymetric System SP_GALATEE_MK3 .................................... 4-17
Winson Processed Data String23-6 SP_SVP16 ................................................... 2-17
Seapath 200 Binary Pitch Roll Heave Heading out- SP_V_SVT ................................................... 5-21
put............................................................... 18-11 SP_VALEPORT ........................................... 8-17
Seapath 400 Pitch & Roll Binary Format .... 16-11 SP_WG_ODOM_1100A............................... 7-17
seapro........................................................... 34-4 SP_YACHT_YL300 .................................... 10-17
SeaPro DGPS .............................................. 34-4 sp200 ......................................................... 18-11
Seaprobin ................................................... 23-21 SPCN DGPS Virtual Interface .................... 13-21
seapth......................................................... 16-11 Spectra External Shooting Mode Interface .. 39-4
seaspy .......................................................... 25-6 Spectra Simulator (General) ........................ 3-19
SeaSPY data format..................................... 25-6 speed ........................................................... 3-17
Seatrack Tailbuoy Tracking System - Seatex AS Sperry Furuno Speed Log ............................ 5-17
10-14 Standardised Acoustic Channel Allocation .... 1-1
seatrk_sgl ................................................... 10-14 Standardised Current Profiler Channel Allocation
seisadcp ......................................................... 3-3 1-3
serbug........................................................... 1-19 Standardised DGPS Channel Allocation ........ 1-4
Sercel Aquarius ............................................ 5-13 Standardised Echo-sounder Channel Allocation1-
Sercel Aquarius RTCM Interface.................. 2-15 5
Sercel NR103 Raw GPS Interface ............... 6-13 Standardised Gun Channel Allocation ........... 1-7
Sercel NR103 RTCM Interface..................... 3-15 Standardised PRH Channel Allocation ........ 1-11
SERIAL Debug Interface .............................. 1-19 Standardised RGPS Channel Allocation ...... 1-14
sgbgyro......................................................... 10-8 Standardised Speed Channel Allocation...... 1-17
sgc ................................................................ 38-7 Sureshot ....................................................... 34-7
sgccgg .......................................................... 36-7 sureshot ....................................................... 34-7
sgcv2 ............................................................ 40-7

Index v
Index Interface Manual

svp ................................................................ 2-17 ttnav ............................................................. 6-20

synqc ............................................................ 1-20 ttu ................................................................. 7-20
synreln .......................................................... 28-6 TTU (Trigger Timing Unit) Timing Interface.. 7-20
synten ........................................................... 4-18
Syntron - Syntrak CUS Compasses ............. 13-2 V
Syntron BATES ............................................ 40-4
Valeport Speed Serial Output String ............ 8-17
Syntron Gun CGG FORMAT ........................ 36-7
valeprt .......................................................... 8-17
Syntron Gun Controller................................. 38-7
VBW ............................................................. 5-17
Syntron Gun Controller - V2 ......................... 40-7
VHW ............................................................. 5-17
Syntron MultiTRAK Acoustics....................... 13-1
VIMRDGPS ................................................ 32-21
Syntron MultiTRAK Bird Data Including Wing An-
VIPSER Node ............................................ 14-21
gle................................................................. 11-2
VIRADAR ................................................... 21-21
Syntron SPS Relational record..................... 28-6
Virtual Interface Digicourse ........................ 17-21
SYNTRON Streamer Tension Unit ............... 4-18
Virtual Interface for RADAR ....................... 21-21
Virtual Interface for Seaprobin.................... 23-21
T Virtual Interface GGA ................................. 24-21
Terramatics Inertial Navigation System (INS)41-4 Virtual Interface Posnet .............................. 26-21
TI_NR203M .................................................. 3-20 Virtual Interface SIPS ................................. 30-21
TI_SYNTRAK_480 ....................................... 1-20 Virtual Interface to the MRDGPS ............... 32-21
TI_TRUETIME .....................................4-20, 6-20 Virtual Interface Triggers ............................ 35-21
TI_TTU ......................................................... 7-20 VISPB......................................................... 23-21
tide................................................................ 30-6 VLW ............................................................. 5-17
TIDE Depth Gauge ....................................... 30-6 VSD .............................................................. 5-17
TN_HYSTAD_SHOCK ................................. 1-18 VTG .............................................................. 5-17
TN_PGS_LOAD_CELL ................................ 3-18
TN_SYNTRON_TENSION ........................... 4-18 W
TN_WESTERN_PARAVANE ....................... 5-18
wesips ............................................................ 9-1
topkart......................................................... 15-14
Western Darts Tailbuoy Interface............... 16-14
Topkart Tailbuoy......................................... 15-14
Western Geco RGPS Interface .................. 17-14
TopShooter Gun Interface ............................ 44-7
Western Paravane Tension.......................... 5-18
topshtr........................................................... 44-7
Western Pitch, Roll & Gyro........................... 11-8
topside .......................................................... 31-6
Western POSNET ........................................ 48-4
TOPSIDE ROV Altimeter.............................. 31-6
Western Tailbuoy (NCS SVS-5000 rGPS .. 19-14
tr4bp ............................................................. 43-4
Western Tailbuoy (NCS SVS-5000 rGPS) . 19-14
tr4pc.............................................................. 46-4
Western WG24 Cable Tension Interface...... 6-18
trigun............................................................. 46-7
windvane ...................................................... 34-6
Trigun Gun Interface..................................... 46-7
Windvane Wind heading/speed.................... 34-6
trigunf2.......................................................... 46-7
wodom.......................................................... 7-17
Trimble 4000 Binary Position........................ 43-4
wpnet16........................................................ 48-4
Trimble 4000 DGPS DNAV AUXCOM3........ 44-4
wprg ............................................................. 11-8
Trimble 4000 GPS Position & Calculation .... 46-4
wten.............................................................. 5-18
Trimble Azimuth Determining Machine....... 21-11
Trimble MS Series Raw GPS Interface ........ 7-13
Trimble TANS VECTOR - Attitude Solution Packet X
22-11 xpout ............................................................ 10-4
TRIMBLE TSIP 6EW Raw GPS ................... 8-13 XX_AANDERAA_WINDVANE ..................... 34-6
trrawg............................................................ 7-13 XX_AIRPRESSURE....................................... 1-6
TrueTime Event Timing Interface ................. 4-20 XX_BELL_GRAVITY_METER ....................... 2-6
TrueTime Nav String Interface ..................... 6-20 XX_DIGICON_MULTI_VESSEL .................... 3-6
tsip_6ew ....................................................... 8-13 XX_DIGICON_NIC ......................................... 6-6
TSM 5265 – Tate Bryant format ................. 19-11 XX_DIGIQUARTZ .......................................... 7-6
tsm5265...................................................... 19-11 XX_FUGRO_GRAVITY.................................. 8-6
tss ................................................................. 4-11 XX_FUGRO_MAGNET ................................ 10-6
tssdeso ......................................................... 3-11 XX_G801MAG ............................................. 11-6
TT_SERDEBUG ........................................... 1-19 XX_HORIZON_SHOT_HEADER ................. 12-6
TT_SIMG ...................................................... 3-19 XX_HYDRONAV_OBC_HEADER ............... 14-6
TT_SLUG ..................................................... 2-19 XX_IMAGE ................................................... 15-6
ttime.............................................................. 4-20

Index vi
Interface Manual Index

XX_KSS31.................................................... 16-6
XX_NMEA_ANY ........................................... 19-6
XX_RDI......................................................... 21-6
XX_SEAKING_BATH ................................... 23-6
XX_SEASPY ................................................ 25-6
XX_SYNTRON_SPS .................................... 28-6
XX_TIDE....................................................... 30-6
XX_TOPSIDE ............................................... 31-6
XX_V_KSS31 ............................................. 14-21

Y
yacht ........................................................... 10-17
Yacht YL300 Speed Log............................. 10-17

Index vii

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