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Interface Specification Document• Seatex MRUThe binary format{xe "binary format"} consists of a fixed-length message using single-byteunsigned and 4-byte IEEE floating point data elements. For the multi-byte elements, the mostsignificant byte is transmitted first.Note:Each indicates one byte of data.| | | | || || || | || | | | Roll || Pitch || Yaw || PosMonD | |_ check| | | | = 0x3d50e560 || = 0xbd50e560 || = 0xbe50e560 || = 0x3f9df3b6 || | | | IEEE float || IEEE float || IEEE float || IEEE float || | | | -> 0.051 rad || ->-0.051 rad || ->-0.204 rad || -> 1.234 m || | || | |__ user selected token (associated with this configuration)| || |__ length is 4 * sizeof(float) + 1 (token) = 4* 4 + 1 = 17 = hex 11||__ header ('q'),replaced with 'Q' when data is unstable (i.e. at startup).Format:Field Units Format Bytes ValueHeader ASCII 1 ASCII 'q' or 'Q'Length Unsigned 1 0x11Token Unsigned 1 0 - 255Roll radians Float 4Pitch radians Float 4Yaw radians Float 4Heave meters Float 4Checksum Unsigned 1 0 - 255______________________________________________________________________SeaBat <strong>8101</strong> Operator's Manual 6-24 (ISD Rev 1.23) Version 3.02
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