octansiii ug part 4 interface library -...

IV. PART 4 : LIBRARY INTERFACE

USER GUIDE

OCTANS III

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OCTANS User Guide

M U - O C T I I I - 0 0 5 E d A P a r t 4 : L I B R A R Y I N T E R F A C E P a g e I V - 3 J u l y 2 0 0 4

This document is iXSea property and cannot be reproduced nor transmitted without prior written approval

TABLE OF CONTENTS

IV.1 Introduction....................................................................................................................................... IV-7

IV.2 Required environment ..................................................................................................................... IV-7

IV.3 OCTANS Library Interface Upgrade. ..............................................................................................IV-7

IV.4 How to use this document............................................................................................................... IV-8

IV.5 Digital interfaces .............................................................................................................................. IV-9 IV.5.1 Quick guide to output protocols..................................................................................................... IV-9 IV.5.2 OCTANS STATUS ($PHINF,hhhhhhhh).....................................................................................IV-10

IV.5.2.1 Description of status word......................................................................................................IV-10 IV.5.2.2 Flags definition: ......................................................................................................................IV-11

IV.5.3 NMEA Cheksum..........................................................................................................................IV-13 IV.5.4 Important Note.............................................................................................................................IV-13 IV.5.5 Detailed list of protocols ..............................................................................................................IV-14

IV.5.5.1 Output protocols:....................................................................................................................IV-14 OCTANS STD 1..................................................................................................................................IV-16 DCN Standard Nav 1 ..........................................................................................................................IV-18 AMS ....................................................................................................................................................IV-20 Anschutz Std20...................................................................................................................................IV-21 Atlas Fansweep 20 .............................................................................................................................IV-22 IG03 ....................................................................................................................................................IV-23 B&A custom 1 .....................................................................................................................................IV-24 B&A custom 2 .....................................................................................................................................IV-25 GYROCOMPAS 1...............................................................................................................................IV-27 GYROCOMPAS 2...............................................................................................................................IV-28 HAM CUSTOM ...................................................................................................................................IV-29 HDMS Thomson .................................................................................................................................IV-30 IFREMER Victor..................................................................................................................................IV-31 JAMSTEC/KAIKOU.............................................................................................................................IV-32 MDL (trim cube) ..................................................................................................................................IV-34 MDL 2..................................................................................................................................................IV-35 MOTION SENSOR 1 ..........................................................................................................................IV-36 MOTION SENSOR 2 ..........................................................................................................................IV-37 MOTION SENSOR 3 ..........................................................................................................................IV-38

OCTANS User Guide



MOTION SENSOR 4 ..........................................................................................................................IV-39 NMEA HEHDT ....................................................................................................................................IV-41 NMEA HEHDT FIXED.........................................................................................................................IV-42 SIMRAD EM........................................................................................................................................IV-43 STOLT OFFSHORE ...........................................................................................................................IV-44 TCM 1/2 ..............................................................................................................................................IV-45 TMS CCV IMBAT................................................................................................................................IV-46 TOKIMEC PTVF .................................................................................................................................IV-48 TOKIMEC PTVF .................................................................................................................................IV-48 TOKIMEC PTVG.................................................................................................................................IV-50 TSS1/DMS ..........................................................................................................................................IV-51 TSS335B.............................................................................................................................................IV-52

IV.5.5.2 Input protocols........................................................................................................................IV-53 DCN Standard Nav 1 ..........................................................................................................................IV-54 DCN Std Loch .....................................................................................................................................IV-55 NMEA --GGA ......................................................................................................................................IV-56 NMEA --VTG.......................................................................................................................................IV-57 NMEA --VHW--GLL.............................................................................................................................IV-58 NMEA --VTG--GGA ............................................................................................................................IV-59 AMS ....................................................................................................................................................IV-60 IG03 ....................................................................................................................................................IV-61

IV.6 Analog interfaces ...........................................................................................................................IV-62 HEADING –180+180...........................................................................................................................IV-63 HEADING 0+360.................................................................................................................................IV-63 HEADING -270+90 .............................................................................................................................IV-64 HEADING –90+270.............................................................................................................................IV-64 HEADING (+)0+360 ............................................................................................................................IV-65 ROLL...................................................................................................................................................IV-66 PITCH .................................................................................................................................................IV-66 COSINE (HEADING) ..........................................................................................................................IV-67 SINE (HEADING)................................................................................................................................IV-67 SINE (ROLL).......................................................................................................................................IV-68 SINE (PITCH)......................................................................................................................................IV-68 HEAVE................................................................................................................................................IV-69 SURGE ...............................................................................................................................................IV-69 SWAY..................................................................................................................................................IV-70 HEAVE SPEED...................................................................................................................................IV-70 SURGE SPEED ..................................................................................................................................IV-71

OCTANS User Guide



SWAY SPEED ....................................................................................................................................IV-71

IV.7 Pulse interfaces..............................................................................................................................IV-72 LOG.....................................................................................................................................................IV-73 SEROUT X SYNCHRO.......................................................................................................................IV-74 SEROUT X RTC .................................................................................................................................IV-75

OCTANS User Guide



IV.1 INTRODUCTION

The Octans Interface Library is part of the standard Octans delivery.

The library is expanding with time, in order to answer all our customers requests. Please contact Ixsea

technical support for information about the last version of the library.

IV.2 REQUIRED ENVIRONMENT

The Octans Interface Library must be used with the Octans Repeater Software. Some protocols are hard

coded into OCTANS, some protocols for serial output are downloaded from the Library into OCTANS on

demand through the Repeater Software (refer to Part 3 of OCTANS III User Guide for serial interface

configuration).

IV.3 OCTANS LIBRARY INTERFACE UPGRADE.

This document lists all protocols delivered as a standard with OCTANS III. Some protocols may be updated,

or new protocols proposed by iXSea. When these protocols are of UDP type, it is possible to upgrade them

very simply, by copying a text file into the Library sub folder of the OCTANS Repeater folder on your PC

(see figure below).

Default folder for Data Log record

Default folder for Octans Log record

Default folder for configuration files record

UDP protocol Library Folder

Figure IV-1 : OCTANS Repeater Directory List

Updated or new protocols may be provided to you by iXSea customer support as text files, to be copied

directly into the OCTANS Repeater Library folder. Once this is performed, these protocols are available for

OCTANS serial interface configuration.

OCTANS User Guide



IV.4 HOW TO USE THIS DOCUMENT

The document is divided into three parts:

• Digital Interfaces:

• Analog Interfaces

• Pulses Interfaces

Each part contains a listing, a quick description and a detailed description of each specific protocol.

OCTANS User Guide



IV.5 DIGITAL INTERFACES

IV.5.1 QUICK GUIDE TO OUTPUT PROTOCOLS

Please use the table below to quickly select the output protocol that best suits your application.

PARAMETER DC

N s

tdan

dard

Nav

1 A

MS

An

schu

tz S

td20

A

tlas

Fans

wee

p 20

IG

03

B&

A c

usto

m1

B&

A c

usto

m 2

GY

RO

CO

MPA

S 1

G

YR

OC

OM

PAS

2

HA

M c

usto

m

HD

MS

Tho

mso

n Ifr

emer

VIC

TOR

Ja

mst

ec/K

aiko

u M

DL

(trim

cub

e)

MD

L2

MO

TIO

N S

ENSO

R 1

M

OTI

ON

SEN

SOR

2

MO

TIO

N S

ENSO

R 3

M

OTI

ON

SEN

SOR

4

NM

EA

HEH

DT

NM

EA

HEH

DT

FIXE

D

OC

TAN

S S

TD1

SIM

RA

D E

M

Sto

lt O

ffsho

re

TCM

1/2

TM

S C

CV

IMBA

T TO

KIM

EC P

TVF

TOK

IMEC

PTV

G

TSS

1/D

MS

TS

S35

5B

HEADING X X X X X X X X X X X X X X X X X X X X X X X X X X

ROLL X X X X X X X X X X X X X X X X X X X X X X X X X X

PITCH XX X X X X X X X X X X X X X X X X X X X X X X X X X

HEAVE X X X X X X X X X X X X X X X X X

SURGE X X X X X X

SWAY X X X X X X

LINEAR SPEED Heave X X X X X

LINEAR SPEED Surge X X X X X

LINEAR SPEED Sway X X X X X

ACCELERATION Heave X X X X X

ACCELERATION Surge X X X

ACCELERATION Sway X X X ACCELERATION horizontal X X X

Roll Speed /Rate X X X X X X

Pitch Speed / Rate X X X X X X

Heading or yaw Speed / Rate X X X X X X X

Latitude X X X X

Speed of the vessel X X X X

Heave without lever arm

Surge without lever arm

Sway without lever arm

Linear speed heave without LVA

X

Linear speed Surge without LVA X

Linear speed Sway without LVA X

Number of turns since last reset X X

$ PHINF : IXSEA STATUS X X X X X X X X X X

Other status message X X X X X X X X X XSYNTAX

NMEA 0183 X X X X X X X X X X X X X X X Binary X X X X X X X X X ASCII X X X X X XHexa X

OCTANS User Guide

M U - O C T I I I - 0 0 5 E d A P a r t 4 : L I B R A R Y I N T E R F A C E P a g e I V - 1 0 J u l y 2 0 0 4


IV.5.2 OCTANS STATUS ($PHINF,HHHHHHHH)

IV.5.2.1 DESCRIPTION OF STATUS WORD

The OCTANS Status is a 32 bits word which acts as a built-in test and control of system. Different OCTANS

modes as well as optical and electrical sub-parts status are monitored in real time through dedicated flags.

Each flag is a bit which is set to “1” when flag is ON and set to “0” when flag is OFF.

The Octans status word is 32 bits long, coded with 8 hexadecimal characters in the “$PHINF,hhhhhhhh”

NMEA sentence. Its value is also displayed in the “STATUS” panel of the “OCTANS repeater”.

STATUS

Hexa value

Binary

value Flag Name

Bit 0 Heading unvalid

Bit 1 Roll unvalid

Bit 2 Pitch unvalid 0xhhhhhhhh

Bit 3 Heave Init

Bit 4 reserved

Bit 5 Octans alignment

Bit 6 Config saved 0xhhhhhhhh

Bit 7 Computation overload

Bit 8 FOG X1 Anomaly

Bit 9 FOG X2 Anomaly

Bit 10 FOG X3 Anomaly 0xhhhhhhhh

Bit 11 Fog acq error

Bit 12 Acc X1 anomaly

Bit 13 Acc X2 anomaly

Bit 14 Acc X3 anomaly 0xhhhhhhhh

Bit 15 Sensor error

STATUS

Hexa value

Binary

value Flag Name

Bit 16 Serial inA error

Bit 17 Serial inB error

Bit 18 Serial inC error 0xhhhhhhhh

Bit 19 Output overloaded

Bit 20 Serial outA full

Bit 21 Serial outB full

Bit 22 Serial outC full 0xhhhhhhhh

Bit 23 Serial outD full

Bit 24 Manual log used

Bit 25 Manual lat used

Bit 26 reserved 0xhhhhhhhh

Bit 27 H, R or P not valid

Bit 28 reserved

Bit 29 reserved

Bit 30 reserved 0xhhhhhhhh

Bit 31 Restart system

OCTANS User Guide



IV.5.2.2 FLAGS DEFINITION:

FLAG CONCERNING DATA (HEADING, ROLL, …) ACCURACY Heading unvalid Roll unvalid Pitch unvalid Heading, Roll or Pitch unvalid

during alignment sequence if wrong latitude or speed is used after a hard shock

in case of sensor (FOG or accelerometer) error Octans alignment during alignment sequence Heave init

mainly during alignment sequence

when initializing the Heave filter (during 300 seconds after end of alignment)

INTERFACING – SYSTEM FLAGS

Serial inA error Serial inB error Serial inC error

Wrong input link configuration (baudrate, or parity, or stop bit)

Serial outA full Serial outB full Serial outC full

Output baudrate too low for selected sample period and protocol

Manual latitude used

OCTANS is using the manually settled latitude (stored in memory)

User have updated the manual latitude

Manual log used

OCTANS uses the manually settled speed (in memory) (default mode)

External speed sensor (GPS, DVL, …) update frequency < 0,1Hz

Configuration saved Once the configuration has been saved into PROM Restart System When system is restarted with a software command

OCTANS User Guide



ERROR FLAGS FOG X1 Anomaly FOG X2 Anomaly FOG X3 Anomaly

Lost of a FOG sensor data (processor acquisition) Heavy shock on the system

FOG built-in test detected an error Accelerometer X1 Anomaly Accelerometer X2 Anomaly Accelerometer X3 Anomaly

Lost of some data from the accelerometer (processor acquisition) Shock on a system

Accelerometer X error Fog Acq error FOG data acquisition error (internal transmission)

Sensor error (display min period 30sec.) Error on One of the sensors

(redundancy with bit 8 or 9 or 10 or 11 or 12 or 13 or 14 or 26)

Computation overload

Overload on the DSP. To avoid it : reduce the sample period of some COM ports

DSP defective

Output overload Input / Output configuration is too heavy To avoid it: reduce some sample period or

change some protocol

NOTA:

Each flag is displayed for at least 10 seconds even if the anomaly lasted for much less than 10 seconds.

Example: the flag “FOG X2 Anomaly” is displayed during 10 seconds even if the error occurred only on one

internal cycle (10ms). This does not mean that, during 10 seconds, the FOG was defective.

OCTANS User Guide



IV.5.3 NMEA CHEKSUM

An usual NMEA sentence is formatted as follows : $aaccc,c … c*hh<CR><LF>

The “hh” is the checksum of the sentence, and allows for a control during data transmission, to check if

there is any missing or corrupted field.

This checksum is the absolute value calculated by exclusive-OR’ing the 8 data bits (no start bits or stop bits)

of each character in the sentence, but excluding “$” and “*”. The hexadecimal value of the most significant

and least significant 4 bits of the result are converted to two ASCII (0-9, A-F). The most significant character

is transmitted first. The checksum field is required in all transmitted sentences

IV.5.4 IMPORTANT NOTE

The resolution of all rotation rate data is limited to 36 deg/h and acceleration data is limited to 1 mg, to comply with export regulations.

OCTANS User Guide



IV.5.5 DETAILED LIST OF PROTOCOLS

IV.5.5.1 OUTPUT PROTOCOLS:

Hard-coded :

OCTANS STD1

DCN Standard Nav 1

DCN Standard Nav 10

AMS

Anschutz Std20

Atlas Fansweep 20

IG03

CGS04

From the library:

B&A custom1

B&A custom2

Gyrocompas 1

Gyrocompas 2

Ham custom

HDMS Thomson

Ifremer Victor

Jamstec/Kaikou

MDL (trim cube)

MDL2

Motion Sensor 1

Motion Sensor 2

Motion Sensor 3

Motion Sensor 4

NMEA HEHDT

OCTANS User Guide



NMEA HEHDT FIXED

SIMRAD EM

Stolt offshore

TCM 1/2

TMS CCV Imbat

Tokimec PTVF

Tokimec PTVG

TSS1/ DMS

TSS 355 B

OCTANS User Guide



OCTANS STD 1

• Standard: Output NMEA 0183 compatible

• Data sent: Heading

Roll

Pitch

Position

Linear speed

Compensation values

Status

• Data frame:

$HEHDT,x.xx,T*hh<CR><LF> where: x.xx is the true heading in degrees

hh is a checksum

$PHTRO,x.xx,a,y.yy,b*hh<CR><LF> where: x.xx is the pitch in degrees

a is ‘M’ for bow up

a is ‘P’ for bow down

y.yy is the roll in degrees

b is ‘B’ for port down

b is ‘T’ for port up

$PHLIN,x.xxx,y.yyy,z.zzz*hh<CR><LF> where: x.xxx is the surge (X1) in meters (signed)

y.yyy is the sway (X2) in meters (signed)

z.zzz is the heave (X3) in meters (signed)

$PHSPD,x.xxx,y.yyy,z.zzz*hh<CR><LF> where: x.xxx is the X1 speed in m.s-1 (signed)

y.yyy is the X2 speed in m.s-1 (signed)

z.zzz is the X3 speed in m.s-1 (signed)

$PHCMP,llll.ll,a,xx.xx,b,N*hh<CR><LF> where: llll.ll is the latitude in degrees (two first l) and in minutes (four last l)

a is ‘N’ for Northern hemisphere

a is ‘S’ for Southern hemisphere

xx.xx is the speed in knots

OCTANS User Guide



$PHINF,hhhhhhhh*hh<CR><LF> where: hhhhhhhh is the hexadecimal value of Octans status

OCTANS User Guide



DCN STANDARD NAV 1

• Standard: DCN Nav protocol 100ms network

(Spec DCN n° 19187 LSM/NAV June 96)


Roll

Pitch

Heave

Log, Latitude

• Data frame:

The protocol contains two frames. The first one is sent nine time and the second

one 1 time over 10

The first frame contains 27 bytes in binary format with header.

Data Length Type Description

Header 2 Binary Byte 0: 27 Byte 1: 10010xxx (binary) Bit 2 : Alignment mode Bit 1 : Anomaly Bit 0 : data not valid

Status 1 Binary 00x101x1 (binary) Bit 5 : Manual log used Bit 1 : Manual latitude used

Hour 4 Binary Unused, set to 0 Ageing 1 Binary Unused, set to 4 ms

Heading 3 Binary MSB: 180 degrees Roll 3 Two complement MSB: 90 degrees Pitch 3 Two complement MSB: 90 degrees

Latitude 3 Two complement MSB: 90 degrees Longitude 3 Two complement Unused, set to 0

North speed 2 Two complement Unused, set to 0 West speed 2 Two complement Unused, set to 0

OCTANS User Guide



The second frame contains 40 bytes in binary format with header.

Data Length Type Description

Header 2 Binary Byte 0: 40 Byte 1: 10010xxx (binary) Bit 2 : Alignment mode Bit 1 : Anomaly Bit 0 : data not valid

Status 1 Binary 00x101x1 (binary) Bit 5 : Manual log used Bit 1 : Manual latitude used

Hour 4 Binary Unused, set to 0 Ageing 1 Binary Unused, set to 0

Heading 3 Binary MSB: 180 degrees Roll 3 Two com0plement MSB: 90 degrees Pitch 3 Two complement MSB: 90 degrees

Latitude 3 Two complement MSB: 90 degrees Longitude 3 Two complement Unused, set to 0

North speed 2 Two complement Unused, set to 0 West speed 2 Two complement Unused, set to 0

Date 2 Binary Unused, set to 0 Heave 2 Two complement MSB: 360 meters

Log speed 2 Two complement MSB: 120 knots Vertical speed 2 Two complement Unused, set to 0 Latitude stddev 1 Binary Unused, set to 0

Longitude stddev

1 Binary Unused, set to 0

Heading stddev 2 Binary Unused, set to 0 Position error 1 Binary Unused, set to 0

OCTANS User Guide



AMS

• Standard: AMS


Pitch

Roll

Latitude

Status

• Data frame:

<CR><LF>

HEADING = hhh.hh<CR><LF>

XTILT = app.pp<CR><LF>

TILT = arr.rr<CR><LF>

LAT = dd:mm:ss a<CR><LF>

STATUS = sssss<CR><LF>

where: hhh.hh is the heading in degrees

app.pp is the pitch in degrees

a [+] front up / [-] front down

Warning : this convention is not the Octans usual convention (pitch

[+] rear up / pitch [-] rear down)

arr.rr is the roll in degrees

a [+] left side up / [-] left side down

dd:mm:ss is the latitude in degrees, minutes and seconds

a[N] for Northern hemisphere

a[S] for Southern hemisphere

sssss is a text string

VALID (heading, pitch and roll valid)

or NOT READY (alignment)

or FAIL (any other case)

OCTANS User Guide



ANSCHUTZ STD20

• Standard: Anschutz Std20


Heading rate

Status

• Data frame: 18 bytes in binary format.

Byte 0 0x02 STX synchronisation byte

Byte 1 Byte 2

01hhhhhh 01hhhhhh

Heading MSB Heading LSB

MSB 180°

Byte 3 0x40

Byte 4 0x40 Byte 5 0x40 Byte 6 0x40

Byte 7 0x40 Byte 8 Byte 9

Byte 10

01s0xxxx 01xxxxxx 01xxxxxx

Heading rate in °/min Bit 5, s = Sign (0 if positive, 1 if negative) MSB = 2636.718°/min LSB = 0.08046°/min

Byte 11 Byte 12

010b000f 01g10100

Status b = 1 => Anomaly FOG or Accelerometer or Fifo full fg = 00 => Heading, Roll or Pitch not valid fg = 01 => Alignment fg = 11 => Default value

Byte 13 0x40 Byte 14 0x40 Byte 15 0x40

Byte 16 01cccccc Checksum FF XOR byte 1 to 15 AND 00111111 OR 010000000

Byte 17 0x03 ETX synchronisation byte

OCTANS User Guide



ATLAS FANSWEEP 20

• Standard: Atlas Fansweep 20

• Data sent: Roll

Pitch

Heave

Status

• Data frame : The frame contains 9 bytes in binary format (MSB are sent first).

Data Length Description

DLE 1 byte 0x10

Roll 2 bytes Unsigned 16 bit, i.e. 0..65535 representing 360° with a resolution of 360°/65536 range 0..360°

Pitch 2 bytes Unsigned 16 bit, i.e. 0..65535 representing 360° with a resolution of 360°/65536 range 270°..90°

Heave 2 bytes Signed 16 bit range –32767 mm to + 32767 mm Sign ‘+’ when Octans goes up

Status 1 byte 0x06 for alignment fully settled 0x07 for alignment settling

DLE 1 byte 0x10

OCTANS User Guide



IG03

• Standard: Output IG03


Latitude

Speed

Roll

Pitch

Status

• Data frame:

$HHH.H,N,XX<CR><LF>

where: HHH.H is the true heading in degrees

XX is a two digit hexadecimal status

bit 0 to bit 4 = 0

bit 5 = 1 for Heading not valid

bit 6 = 0

bit 7 = 1 for Alignment

$HHH.H,N,XX,aLL.L,SS,aRR.R,aPP.P<CR><LF>

where: HHH.H is the true heading in degrees

XX is a two digit hexadecimal status

bit 0 to bit 4 = 0

bit 5 = 1 for Heading not valid

bit 6 = 0

bit 7 = 1 for Alignment

aLL.L is the latitude in degrees

a[+] for Northern hemisphere

a[-] for Southern hemisphere

SS is the speed in knots

aRR.R is the roll angle in degrees

a[+] for port up/ [-] for port down.

aPP.P is the pitch angle in degrees

a[-] for bow up/ [+] for bow down

OCTANS User Guide



B&A CUSTOM 1



Roll

Pitch

Heave

Number of heading turn since the last reset

Status

• Data frame:

$HEHDT,x.xx,T*hh<CR><LF>

where: x.xx is the true heading in degrees

hh is a checksum

$PHTRH,x.xx,a,y.yy,b,z.zz,c*hh<CR><LF>

where: x.xx is the pitch in degrees






z.zz is the heave in meters (absolute value)

c is ‘O’ if Octans goes up

c is ‘U’ if Octans goes down

$PHHRP,sxx.x,d,hhhhhhhh*hh<CR><LF>

where: x.xx is the number of heading turn since the last reset

s is ‘+’ for CW

s is ‘-’ for CCW

hhhhhhhh is the hexadecimal value of Octans status

please see “OCTANS STD 1” protocol for the signification of each bit.

OCTANS User Guide



B&A CUSTOM 2



Roll

Pitch

Position

Linear speed

Rotation rates

Number of heading turn since the last reset

Status

• Data frame:

$HEHDT,x.xx,T*hh<CR><LF> where: x.xx is the true heading in degrees

hh is a checksum

$PHTRO,x.xx,a,y.yy,b*hh<CR><LF>







$PHLIN,x.xxx,y.yyy,z.zzz*hh<CR><LF>

where: x.xxx is the surge (X1) in meters (signed)



$PHSPD,x.xxx,y.yyy,z.zzz*hh<CR><LF>

where: x.xxx is the X1 speed in m.s-1 (signed)



OCTANS User Guide



$PHROT,x.xxx,y.yyy,z.zzz*hh<CR><LF>

where: x.xxx is rotation rate around X1 axis in °.s-1 (signed)

y.yyy is rotation rate around X2 axis in °.s-1 (signed)

z.zzz is rotation rate around X3 axis in °.s-1 (signed)

$PHHRP,sxx,d,hhhhhhhh*hh<CR><LF>

where: xx is the number of heading turn since the last reset

s is ‘+’ for CW

s is ‘-’ for CCW

hhhhhhhh is the hexadecimal value of Octans status


OCTANS User Guide



GYROCOMPAS 1



Roll

Pitch

Status

• Data frame:



hh is a checksum








$PHINF, hhhhhhhh*hh<CR><LF>

where: hhhhhhhh is the hexadecimal value of Octans status


OCTANS User Guide



GYROCOMPAS 2



Roll

Pitch

Heave

Status

• Data frame:



hh is a checksum

$PHTRH,x.xx,a,y.yy,b,z.zz,c*hh<CR><LF>







z.zz is the heave in meters (absolute value)

c is ‘U’ if Octans goes up

c is ‘O’ if Octans goes down

$PHINF,hhhhhhhh*hh<CR><LF>



OCTANS User Guide



HAM CUSTOM

• Standard: Output TSS proprietary protocol and Output NMEA 0183 frame

• Data sent: Roll

Pitch

Heave

Linear accelerations

Status

Heading

• Data frame:

The frame contains

• The TSS335B frame (please see “TSS335B” protocol)

• The NMEA HEHDT frame (please see “NMEA HEHDT” protocol)

OCTANS User Guide



HDMS THOMSON

• Standard: Output HDMS system


Roll

Pitch

Heave

• Data frame:

The frame contains 10 bytes in binary format.

Message 00 90 RRRR PPPP hhhh HHHH Byte 0 0x00 Sync byte Byte 1 0x90 Sync byte Byte 2 Roll LSB Byte 3

0xRRRR Roll MSB

Roll ± 180° LSB : 0.01° Sign “+” when port up

Byte 4 Pitch LSB Byte 5

0xPPPP Pitch MSB

Pitch ± 180° LSB : 0.01° Warning: Opposite sign of Octans usual convention

Sign “+” when bow up Byte 6 Heave LSB Byte 7

0xhhhh Heave MSB

Heave ± 10 m LSB : 0.01m Sign “+” when Octans goes up

Byte 8 Heading LSB Byte 9

0xHHHH Heading MSB

Heading 0° to 360° LSB : 0.01°

Each data is “two complemented” coded except Heading.

OCTANS User Guide



IFREMER VICTOR

• Standard: Output Ifremer proprietary protocol compatible with Seatex MRU6 system


Roll

Pitch

Rotation rates

Accelerations

• Data frame: The frame contains a header, 10 fields with 4 bytes in binary format per field and a

checksum.

Data are coded in IEEE floating point standard. LSB are sent fist and MSB in last

position.

Message <Q><n><id><F1><F2>…..<F8><F9><s>

Byte 0 ‘Q’ Sync Byte 1 0x29 Number of bytes : Fields and user id. (4*9 + 1 = 37) Byte 2 0x0C User id. Octans id is fixed to 12 Field 1

Bytes 3 to 6 Roll radians IEEE floating point format

Sign “+” when port up Field 2

Bytes 7 to 10 Pitch radians IEEE floating point format

Warning: Opposite sign of Octans usual convention

Sign “+” when bow up Field 3

Bytes 11 to 14 Heading radians IEEE floating point format

Field 4 Bytes 15 to 18

Roll speed radians per second IEEE floating point format


Pitch speed radians per second IEEE floating point format Warning: Opposite sign of Octans usual convention


Heading speed

radians per second IEEE floating point format Warning: Opposite sign of Octans usual convention


X1 acceleration

m/s2 IEEE floating point format


X2 acceleration

m/s2 IEEE floating point format Warning: Opposite sign of Octans usual convention


X3 acceleration

m/s2 IEEE floating point format Warning: Opposite sign of Octans usual convention


Spare = 0.0 IEEE floating point format

Byte 43 Checksum Addition of all the bytes for 0 to 42

OCTANS User Guide



JAMSTEC/KAIKOU

• Standard: Output JAMSTEC Kaikou proprietary protocol


Roll

Pitch

Heave


Rotation rates

Status

• Data frame: the frame contains 24 bytes in binary format with an header and an “end of frame”

fields.

Message 00 90 RRRR PPPP hhhh HHHH X1X1 X2X2 X3X3 SRSR SPSP SHSH SS 91

Byte 0 0x00 Header LSB Byte 1 0x90 Header MSB Byte 2 Roll LSB Byte 3

0xRRRR Roll MSB

Roll ± 180° LSB : 180°/215 = 0.00549° Sign “+” when port up


0xPPPP Pitch MSB

Pitch ± 180° LSB : 180°/215 = 0.00549° Sign “+” when bow up Warning: Opposite sign of Octans usual convention

Byte 6 Heave LSB Byte 7

0xhhhh Heave MSB

Heave ± 327 m LSB : 327/215 = 0.00997m Sign “+” when Octans goes down Warning: Opposite sign of Octans usual convention


0xHHHH Heading MSB

Heading 0° to 360° LSB : 360°/216 = 0.00549°

Byte 10 X1 acceleration LSB Byte 11

0xX1X1 X1 acceleration MSB

X1 acceleration ± 3.0g LSB : 3.0/215 = 91.6 µg



X2 acceleration ± 3.0g LSB : 3.0/215 = 91.6 µg Warning: Opposite sign of Octans usual convention




Byte 16 Roll speed LSB Byte 17

0xSRSR Roll speed MSB

Roll speed ± 60°/s LSB : 60/215 = 0. 00183 °/s

OCTANS User Guide



Byte 18 Pitch speed LSB Byte 19

0xSPSP Pitch speed MSB

Pitch speed ± 60°/s LSB : 60/215 = 0.00183 °/s Warning: Opposite sign of Octans usual convention

Byte 20 Heading speed LSB Byte 21

0xSHSH Heading speed MSB

Heading speed ± 60°/s LSB : 60/215 = 0. 00183 °/s Warning: Opposite sign of Octans usual convention

Byte 22 0xSS Status 0xFF ⇒ OK 0xAA ⇒ alignment 0x00 ⇒ error

Byte 23 0x91 End of frame


The rotation speeds represent the vessel movements without the earth rotation.

The accelerations represent the vessel accelerations without the gravity.

Warning: The sign of data corresponds to Octans system reference described in the user guide except for

pitch, acceleration X2 , acceleration X3, pitch speed and heading speed.

OCTANS User Guide



MDL (TRIM CUBE)

• Standard: Output MDL ASCII standard


Roll

Pitch

• Data frame:

HhhhhP±xxxxR±yyyy<CR><LF>

where: hhhh is the heading in degrees multiplied by 10

xxxx is the pitch in degrees multiplied by 100

yyyy is the roll in degrees multiplied by 100

OCTANS User Guide



MDL 2

• Standard: Output MDL ASCII standard


Roll

Pitch

Gyro status

• Data frame:

HhhhhP±xxxxR±yyyyQ<CR><LF>

where: hhhh is the heading in degrees multiplied by 10

xxxx is the pitch in degrees multiplied by 100

yyyy is the roll in degrees multiplied by 100

Q is the gyro status as follows :

M Gyro alignment mode

E Gyro reports good data

N reports unvalid data

OCTANS User Guide



MOTION SENSOR 1



Roll

Pitch

Position

Status

• Data frame:



hh is a checksum















OCTANS User Guide



MOTION SENSOR 2



Roll

Pitch

Position

Linear speed

Status

• Data frame:



hh is a checksum



















OCTANS User Guide



MOTION SENSOR 3


• Data sent: Position

Linear speed

Status

• Data frame:












OCTANS User Guide



MOTION SENSOR 4



Roll

Pitch

Position with and without lever arms compensation.

Linear speed with and without lever arms compensation.

Status

• Data frame:



hh is a checksum








OCTANS User Guide



$PHPOS,x.xxx,y.yyy,z.zzz,X.XXX,Y.YYY,Z.ZZZ *hh<CR><LF>

where: x.xxx is the surge (X1) in meters (signed) with lever arms

compensation

y.yyy is the sway (X2) in meters (signed) with lever arms

compensation

z.zzz is the heave (X3) in meters (signed) with lever arms

compensation

X.XXX is the surge (X1) in meters (signed) without lever arms

compensation

Y.YYY is the sway (X2) in meters (signed) without lever arms

compensation

Z.ZZZ is the heave (X3) in meters (signed) without lever arms

compensation

$PHVIT,x.xxx,y.yyy,z.zzz, X.XXX,Y.YYY,Z.ZZZ *hh<CR><LF>

where: x.xxx is the X1 speed in m.s-1 (signed) with lever arms

compensation

y.yyy is the X2 speed in m.s-1 (signed) with lever arms

compensation

z.zzz is the X3 speed in m.s-1 (signed) with lever arms

compensation

X.XXX is the X1 speed in m.s-1 (signed) without lever arms

compensation

Y.YYY is the X2 speed in m.s-1 (signed) without lever arms

compensation

Z.ZZZ is the X3 speed in m.s-1 (signed) without lever arms

compensation




OCTANS User Guide



NMEA HEHDT

• Standard: Output NMEA 0183


• Data frame:

$HEHDT,xxx.xx,T*hh<CR><LF>

where: xxx.xx is the true heading in degrees

hh is a checksum

OCTANS User Guide



NMEA HEHDT FIXED

• Standard: Output NMEA 0183 except the number of digits.


• Data frame:

$HEHDT,xxx.x,T <CR><LF>

where: xxx.x is the true heading in degrees (3 digits before and 1 digit after the decimal point)

OCTANS User Guide



SIMRAD EM

• Standard: Output Simrad proprietary protocol


Roll

Pitch

Heave

Status

• Data frame:

The frame contains 10 bytes in binary format.

Message SS 90 RRRR PPPP hhhh HHHH Byte 0 0xSS Sync byte

Sensor status 0x90 ⇒ OK 0x9A ⇒ alignment 0xA0 ⇒ error

Byte 1 0x90 Sync byte Byte 2 Roll LSB Byte 3

0xRRRR Roll MSB

Roll ± 180° LSB : 0.01° Sign “+” when port up


0xPPPP Pitch MSB

Pitch ± 180° LSB : 0.01° Sign “+” when bow up Warning: Opposite sign of Octans usual convention


0xhhhh Heave MSB

Heave ± 10 m LSB : 0.01m Sign “+” when Octans goes up


0xHHHH Heading MSB

Heading 0° to 360° LSB : 0.01°


OCTANS User Guide



STOLT OFFSHORE

• Standard: Output NMEA 0183 compatible with Seatex MRU system


Roll

Pitch

Rotation rates

• Data frame:

$PSXN, id, user, x1, x2, x3, x4, x5, x6*hh<CR><LF>

where: id is 10 when no error occurs

11 if one or more error occurs

user is 14

x1 is the pitch in radian

(Warning: Opposite sign of Octans usual convention)

x2 is the roll in radian

x3 is the heading in radian

x4 is the pitch speed in radian/second

(Warning: Opposite sign of Octans usual convention)

x5 is the roll speed in radian/second

x6 is the yaw speed in radian/second

x1, x2, x3, x4, x5, x6 are written as floats in scientific format (for example –2.5648e01)

OCTANS User Guide



TCM 1/2

• Standard: Output (Trimble)TCM standard


Roll

Pitch

• Data frame:

Chhh.hPxx.xRyy.y*hh<CR><LF>

where: hhh.h is the heading in degrees

xx.x is the pitch in degrees

yy.y is the roll in degrees

hh is the checksum

OCTANS User Guide



TMS CCV IMBAT

• Standard: Output Thomson Marconi Sonar proprietary protocol


Roll

Pitch

Heave


Rotation rates

Status

• Data frame:

The frame contains 24 bytes in binary format with an header and an “end of frame” fields.

Message 00 90 RRRR PPPP hhhh HHHH X1X1 X2X2 X3X3 SRSR SPSP SHSH SS 91

Byte 0 0x00 Header LSB Byte 1 0x90 Header MSB Byte 2 Roll LSB Byte 3

0xRRRR Roll MSB

Roll ± 180° LSB : 180°/215 = 0.00549° Sign “+” when port up


0xPPPP Pitch MSB

Pitch ± 180° LSB : 180°/215 = 0.00549° Sign “+” when bow up Warning: Opposite sign of Octans usual convention


0xhhhh Heave MSB

Heave ± 327 m LSB : 327/215 = 0.00997m Sign “+” when Octans goes down Warning: Opposite sign of Octans usual convention


0xHHHH Heading MSB

Heading 0° to 360° LSB : 360°/216 = 0.00549°



X1 acceleration ± 0.5g LSB : 0.5/215 = 15.2 µg







Byte 16 Roll speed LSB Byte 17

0xSRSR Roll speed MSB

Roll speed ± 20°/s LSB : 20/215 = 0.00061 °/s

OCTANS User Guide



Byte 18 Pitch speed LSB Byte 19

0xSPSP Pitch speed MSB

Pitch speed ± 20°/s LSB : 20/215 = 0.00061 °/s Warning: Opposite sign of Octans usual convention

Byte 20 Heading speed LSB Byte 21

0xSHSH Heading speed MSB

Heading speed ± 20°/s LSB : 20/215 = 0.00061 °/s Warning: Opposite sign of Octans usual convention

Byte 22 0xSS Status 0xFF ⇒ OK 0xAA ⇒ alignment 0x00 ⇒ error

Byte 23 0x91 End of frame


The rotation speeds represent the vessel movements without the earth rotation.


Warning: The sign of data corresponds to Octans system reference described in the user guide except for

pitch, acceleration X2 , acceleration X3, pitch speed and heading speed.

OCTANS User Guide



TOKIMEC PTVF

• Standard: Output NMEA 0183 compatible, Tokimec proprietary


Roll

Pitch

Rotation speed

Speed of the vessel

Status

• Data frame:

$PTVF,abbbbP,accccR,ddd.dT,aee.ePR,aff.fRR,agg.gAR,ajj.jN,yyyMD,zzzzAL*hh<CR><LF>

where: abbbb is the pitch

bb(deg).bb(min)

a [-] bow up / [space] bow down

acccc is the roll in degrees

cc(deg).cc(min)

a [-] port up / [space] port down

ddd.d is the heading in degrees

aee.e is the rate of pitch in degrees/second


aff.f is the rate of roll in degrees/second


agg.g is the rate of turn in degrees/second

a [-] CCW / [space] CW

ajj.j is the vessel speed in knot

a [-] Astern / [space] Ahead

yyy Unused

zzzz status

hh is a checksum

zzzz is the hexadecimal value of the following status which is similar

to $PHINF except it only uses 4 hexadecimal numbers.

OCTANS User Guide



STATUS value for TOKIMEC PTVF protocol :

Bit 0 Heading unvalid Bit 1 Roll unvalid Bit 2 Pitch unvalid Bit 3 Heave init Bit 4 Reserved Bit 5 Initialization Bit 6 Reserved Bit 7 Reserved Bit 8 FOG X1 anomaly Bit 9 FOG X2 anomaly Bit 10 FOG X3 anomaly Bit 11 FOG acq error Bit 12 Accelerometer X1 anomaly Bit 13 Accelerometer X2 anomaly Bit 14 Accelerometer X3 anomaly Bit 15 Sensor error

OCTANS User Guide



TOKIMEC PTVG

• Standard: Output NMEA 0183 compatible, Tokimec proprietary


Roll

Pitch

• Data frame:

$PTVG,abbbbP,accccR,ddd.dT*hh<CR><LF>

where: abbbb is the pitch

bb(deg).bb(min)


acccc is the roll in degrees

cc(deg).cc(min)


ddd.d is the heading in degrees

hh is a checksum

OCTANS User Guide



TSS1/DMS

• Standard: Output TSS proprietary protocol

• Data sent: Roll

Pitch

Heave


Status

• Data frame: The frame contains 27 bytes in ASCII format with an header and an “end of frame”

fields.

Message: “:XXAAAASMHHHHQMRRRRSMPPPP<CR><LF>”

Field

: Header LSB: 0x3A XX Horizontal acceleration Acc: 0 to 9.81 m.s-2

Unit: 3.83 cm.s-2

This field is hexadecimal coded AAAA Vertical acceleration Acc: ± 20.48 m.s-2

Unit: 0.0625 cm.s-2

Sign “+” when Octans goes up This field is hexadecimal coded

S Space character : 0x20 MHHHH Heave Heave: ± 99 m

Unit: 1 cm Sign “+” when Octans goes up

Q Status flag ‘h’ : Alignment mode. ‘H’ : Nominal mode.

MRRRR Roll Pitch ± 90° Unit : 0.01°

S Space character : 0x20 MPPPP Pitch Pitch ± 90°

Unit : 0.01° Sign “+” when bow up Warning: Opposite sign of Octans usual convention.

<CR><LF> End of frame : 0x0D 0x0A

Each data is ASCII format.

M = space if positive or minus if negative.


OCTANS User Guide



TSS335B

• Standard: Output TSS proprietary protocol

• Data sent: Roll

Pitch

Heave


Status

• Data frame: The frame contains 27 bytes in ASCII format with an header and an “end of frame”

fields.

Message: “:XXAAAASMHHHHQMRRRRSMPPPP<CR><LF>”

Field

: Header LSB: 0x3A XX

Horizontal acceleration Acc: 0 to 9.81 m.s-2

Unit: 3.83 cm.s-2

This field is hexadecimal coded AAAA Vertical acceleration Acc: ± 20.48 m.s-2

Unit: 0.0625 cm.s-2

Sign “+” when Octans goes up This field is hexadecimal coded

S Space character : 0x20 MHHHH Heave Heave: ± 99 m

Unit: 1 cm Sign “+” when Octans goes up

Q Status flag ‘ ?’ : Alignment mode. Space character : Nominal mode.

MRRRR Roll Pitch ± 90° Unit : 0.01°

S Space character : 0x20 MPPPP Pitch Pitch ± 90°

Unit : 0.01° Sign “+” when bow up Warning: Opposite sign of Octans usual convention.

<CR><LF> End of frame : 0x0D 0x0A

Each data is ASCII format.

M = space if positive or minus if negative.


OCTANS User Guide



IV.5.5.2 INPUT PROTOCOLS

• DCN Std Nav1

• DCN Std Loch

• NMEA --GGA

• NMEA –VTG

• NMEA –VHW-GLL

• NMEA --VTG—GGA

• AMS

• IG03

OCTANS User Guide



DCN STANDARD NAV 1

• Standard: DCN Nav protocol 100ms network (Spec DCN n° 19187 LSM/NAV June 96)

• Data received: Log

• Data frame:

The frame contains 27 bytes in binary format with header.

It is advisable to use the Timeout to synchronize the frames.

Data Length Type Description Header 2 Binary Byte 0: 27

Byte 1: Unused Status 1 Binary Bit 7: Operational (0: Yes, 1: No) Hour 4 Binary Unused Aging 1 Binary Unused

Heading 3 Binary Unused Relative roll 3 Two complement Unused

Pitch 3 Two complement Unused Latitude 3 Two complement MSB: 90 degrees

Longitude 3 Two complement Unused North speed 2 Two complement Unused West speed 2 Two complement Unused

OCTANS User Guide



DCN STD LOCH

• Standard: DCN Loch protocol (Spec DCN n° 19188 LSM/NAV March 90)


• Data frame:

The frame contains 3 bytes in binary format without header and “end of frame”

fields.

It is advisable to use the Timeout to synchronize the frames.

Byte 0 Status byte Bit 7: Operational(0:Yes, 1: No)

Bit 6: damage (0:No, 1: Yes)

Bit 5: Simulation (0:No, 1: Yes)

Bit 4: Test (0:No, 1: Yes)

Byte 1 Data MSB Bit 7: Sign(0:Positive, 1: Negative)

Bit 6: MSB = 30 knots

…….

Bit 0

Byte 2 Data LSB Bit 7: 0.234375 knots

…….

Bit 0

Warning: The Data is not two complemented; Byte 1, Bit 7 is the sign and (Byte 1, Bit 6) to (Byte 0 Bit 0) is

the absolute value of the loch.

OCTANS User Guide



NMEA --GGA

• Standard: Input NMEA 0183

• Data received: Latitude

• Data frame:

$--GGA, ,llll.ll,a, , , , , , , , , , , , *hh<CR><LF>

where: llll.ll is the latitude in degrees (two first l) and in minutes (four last l)



*hh is optional

OCTANS User Guide



NMEA --VTG



• Data frame:

$--VTG, , , , ,x.x,N, , *hh<CR><LF>

where: x.x is the speed in knots

*hh is optional

OCTANS User Guide



NMEA --VHW--GLL



Latitude

• Data frame:

$--VHW, , , , ,x.x,N, , *hh<CR><LF>


$--GLL,llll.ll,a, , , ,s*hh<CR><LF>




s is ‘A’ when latitude is valid

*hh is optional

OCTANS User Guide



NMEA --VTG--GGA



Latitude

• Data frame:

$--VTG, , , , ,x.x,N, , *hh<CR><LF>


$--GGA, ,llll.ll,a, , , , , , , , , , , , *hh<CR><LF>




*hh is optional

OCTANS User Guide



AMS

• Standard: AMS

• Data received: Latitude

• Data frame: ASCII format

L<CR> or l<CR>

Normal output stopped and screen cleared until latitude input

If latitude not received with 20 seconds then normal out put resumed

Latitude input format :

dd:mm:ss<sp>a<CR>

where: dd:mm:ss is the latitude in degrees, minutes and seconds

a [N] or [n] for Northern hemisphere

a [S] or [s] for Southern hemisphere

Normal output resumed

S<CR> or s<CR>

Save to PROM the configuration

N<CR> or n<CR>

Restart the system

OCTANS User Guide



IG03

• Standard: Input IG03

• Data sent: Speed

Latitude

Command lines

• Data frame: ASCII format

$Sxx<CR><LF>

where: xx is the speed in knots

$Lxx<CR><LF>

where: xx is the latitude compensation in degrees

(- for Southern hemisphere)

$-ON<CR><LF>

Octans transmission in previously defined format

$N-ON<CR><LF>

N = 1 Octans starts continuous transmission in short format

N = 2 Octans starts continuous transmission in long format

N = 3 Octans transmit one sentence in short format (and stops transmission until

other command . )

N = 4 Octans transmits one sentence in long format (and stops transmission until

other command . )

$X-OFF<CR><LF>

Octans stops transmission in short and long format

OCTANS User Guide



IV.6 ANALOG INTERFACES

• HEADING –180 +180

• HEADING 0 +360

• HEADING –270 +90

• HEADING –90 +270

• HEADING (+)0 +360

• ROLL

• PITCH

• COSINE (HEADING)

• SINE (HEADING)

• HEAVE

• SURGE

• SWAY

• HEAVE SPEED

• SURGE SPEED

• SWAY SPEED

OCTANS User Guide



HEADING –180+180

• Standard: NA

• Definition:

Heading: 180°→270°→0°→90°→180°

Voltage: - Vmax → 0V→ + Vmax

• Scale factor: Degree/Volts

• Remark: the full scale range is ± 10 V for a resolution of 14 bits

HEADING 0+360

• Standard: NA

• Definition:

Heading: 0°→90°→180°→270°→360°




OCTANS User Guide



HEADING -270+90

• Standard: NA

• Definition:

Heading: -270°→-180°→-90°→0°→90°




HEADING –90+270

• Standard: NA

• Definition:

Heading: -90°→0°→90°→180°→270°




OCTANS User Guide



HEADING (+)0+360

• Standard: NA

• Definition:

Heading: 0°→180°→360°

Voltage: 0V→ + Vmax



OCTANS User Guide



ROLL

• Standard: NA

• Definition:

Roll: -90°→0°→90°

Polarity: + when port side up



PITCH

• Standard: NA

• Definition:

Pitch: -90°→0°→90°

Polarity : + when bow down



OCTANS User Guide



COSINE (HEADING)

• Standard: NA

• Definition:

Cosine of the heading: -1→0→1°


• Scale factor: Volts-1


SINE (HEADING)

• Standard: NA

• Definition:

Sine of the heading: -1→0→1°




OCTANS User Guide



SINE (ROLL)

• Standard: NA

• Definition:

Sine of the roll: -1→0→1°




SINE (PITCH)

• Standard: NA

• Definition:

Sine of the pitch: -1→0→1°




OCTANS User Guide



HEAVE

• Standard: NA

• Definition:

heave: -1→0→1 m


• Scale factor: m/Volts


SURGE

• Standard: NA

• Definition:

surge: -1→0→1m




OCTANS User Guide



SWAY

• Standard: NA

• Definition:

sway: -1→0→1m




HEAVE SPEED

• Standard: NA

• Definition:

heave: -1→0→1m.s-1


• Scale factor: m.s-1/Volts


OCTANS User Guide



SURGE SPEED

• Standard: NA

• Definition:

surge: -1→0→1m.s-1




SWAY SPEED

• Standard: NA

• Definition:

sway: -1→0→1 m.s-1




OCTANS User Guide



IV.7 PULSE INTERFACES

• LOG

• SEROUT X (X = A, B or C)

• SEROUT X RTC (X = A, B or C)

OCTANS User Guide



LOG

• Standard: any log

• Definition:

X pulses per nautical miles

• Scale factor: pulses per nautical miles

OCTANS User Guide



SEROUT X SYNCHRO

Description of protocol is similar for X = A, B or C depending on the serial port considered.

• Standard: none

• Definition: On pulse input rising edge, serial output X samples data corresponding to its

configuration .

• Scale factor: No effect

T2

Serial output

Digital input

T1

T1 > 10 ms

T2 < 10 ms

Remark: If the serial output sampling clock is not set to 0 in the configuration of serial port X, data

will be sent according to the sampling clock and the pulse rising edge.

OCTANS User Guide



SEROUT X RTC

• Standard: none

• Definition: The digital output is used as RTC signal of the serial A output

• Scale factor: No effect

T1 T2

Serial output

Digital output

0ms < T1 < 10 ms

0ms < T2 < 20 ms

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