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USBL-BOX – User Guide
A.4
HIPAP HPR 418 (fix and mobile)
Please refer to the Kongberg document HPR418BCD_revC.doc.
Transponder position message: the frame contains 32 bytes in binary format.
Example data:
X=1234.56m Y=-987.65m Depth 1234.5m Heading 59.9° Pos. to ROV 15. Training mode
The difference between the mobile and fixed protocols is made in the Byte 3 Bit 5. The
bit is equal to 1 in the mobile case and 0 in the fixed case.
Message
Example
Byte 0
0xDF
DF
Start of message
Byte 1
0x01
Head byte
1- SSBL position
Byte 2
0xSS
Status Byte 1
Bit 0: Position Measurement OK
Bit 1: Position measurement filtered
Bit 2: Position measurement predicted (always 0 for USBL-BOX)
Bit 3: Optional data SSBL OK (pressure sensor only for USBLBOX TP)
Bit 4-6: Always 0
Bit 7: Transceiver error (opposite of Bit 0)
Byte 3
0x20
Status Byte 2
Bit 0-1: Transducer number (MSB s/n USBL-BOX)
Bit 2-3: Transceiver number (LSB s/n USBL-BOX)
Bit 4: Training mode (always 0 for USBL-BOX)
Bit 5: Mobil TP (SSBL) Rov TP (LBL) (0 fixed, 1 mobile)
Bit 6: LBL co-ordinates in UTM (always 0 for USBL-BOX)
Bit 7: Master 0, Slave 1 (always 0 for USBL-BOX)
Byte 4
0x01
TP. Inf.
0 - TP (Transponder)
1 - Depth TP Optional Data 1
2 - Inclinometer TP Optional Data 1&2 /* not used here
3 - Diff.in.TP Optional Data 1&2 /*not used here
4 - Compass TP Optional Data 1 /* not used here
5 - Acoustic control transponder /* not used here
6 - Beacon /* not used here
7 - Depth Beacon /* not used here
10 -Responder driver 1 /* not used here
13 - Responder driver 4
Byte 5
Byte 6
0x00
0xTT
TP ID
Byte 7
Byte 8
Byte 9
0xsY
0xYY
0xYY
Y position
s = 0 if Y positive (Y HIPAP)
s = D if Y negative
BCD coded, LSB = 1/10 of unit
Byte 10
Byte 11
Byte 12
0xsX
0xXX
0xXX
X position
s = 0 if X positive (X HIPAP)
s = D if X negative
BCD coded, LSB = 1/10 of unit
Byte 13
Byte 14
Byte 15
0xsZ
0xZZ
0xZZ
Z position
s = 0 if Z positive
s = D if Z negative
BCD coded, LSB = 1/10 of unit
Byte 16
Byte 17
0xHH
0xHH
Heading LSB
Heading MSB
0° to 359.9° LSB=0.1°
BCD coded
Byte 18
Byte 19
XsD
0xDD
Sensor Depth
Optional Data 1
Meters
S=0
From 0 to 99
MU–USBL-BOX–AN–001 Ed. B – September 2011 69