When the vehicle uses Long Base Line navigation, this message notifies that a new range was received from one of the acoustics transponders. The message fields are used to identify the range value and the transponder name.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Beacon Identification Number | id | - | uint8_t | Identification number of the acoustic transponder from which the range information was received. | Same as field type |
| Range | range | m | fp32_t | Distance to the acoustic transponder. | Same as field type |
Position and configuration of an LBL transponder (beacon).
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Beacon Name | beacon | - | plaintext | Name/Label of the acoustic transponder. | Same as field type |
| Latitude WGS-84 | lat | rad | fp64_t | WGS-84 Latitude coordinate. | min=-1.5707963267948966, max=1.5707963267948966 |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude coordinate. | min=-3.141592653589793, max=3.141592653589793 |
| Depth | depth | m | fp32_t | The beacon’s depth. | Same as field type |
| Interrogation channel | query_channel | - | uint8_t | Interrogation channel. | Same as field type |
| Reply channel | reply_channel | - | uint8_t | Reply channel. | Same as field type |
| Transponder delay | transponder_delay | ms | uint8_t | Transponder delay. | Same as field type |
Long Base Line configuration.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation | op | Enumerated (Enum Operation) | uint8_t | Used to define the type of the operation this message holds. | Same as field type |
| Beacons | beacons | - | message-list (LBL Beacon Configuration) | A list of LBL beacon configuration messages. | Same as field type |
Used to define the type of the operation this message holds.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Set LBL Configuration | SET_CFG | Set the beacons configuration aboard the vehicle. |
| 1 | Retrieve LBL Configuration | GET_CFG | Request the vehicle to send its current beacons configuration. |
| 2 | Reply to a GET command | CUR_CFG | - |
Send an acoustic message.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Message to send | message | - | message | Message to send. | Same as field type |
Acoustic operation.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation | op | Enumerated (Enum Operation) | uint8_t | Operation type. | Same as field type |
| System | system | - | plaintext | The meaning of this field depends on the operation and is explained in the operation’s description. | Same as field type |
| Range | range | m | fp32_t | The meaning of this field depends on the operation and is explained in the operation’s description. | Same as field type |
| Message To Send | msg | - | message | Argument for message send (‘MSG’) requests. | Same as field type |
Operation type.
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Abort | ABORT | Send an abort through the acoustic channel to the system specified in the field ‘system’. |
| 1 | Abort in Progress | ABORT_IP | The latest abort request to the system specified in the field ‘system’ is in progress. |
| 2 | Abort Timeout | ABORT_TIMEOUT | The latest abort operation expired without acknowledgment from the system specified in the field ‘system’. |
| 3 | Abort Acknowledged | ABORT_ACKED | The latest abort operation was acknowledged by the system specified in the field ‘system’. |
| 4 | Range Request | RANGE | Request a range through the acoustic channel to the system specified in the field ‘system’. |
| 5 | Range in Progress | RANGE_IP | The latest range request to the system specified in the field ‘system’ is in progress. |
| 6 | Range Timeout | RANGE_TIMEOUT | The latest range request operation expired without reply from the system specified in the field ‘system’. |
| 7 | Range Received | RANGE_RECVED | The latest range request operation to the system specified in the field ‘system’ was successful and the range is specified in the field ‘range’. |
| 8 | Modem is Busy | BUSY | The acoustic modem is busy and cannot execute the requested operation. |
| 9 | Unsupported operation | UNSUPPORTED | The latest requested operation is not supported. |
| 10 | Transducer Not Detected | NO_TXD | The transducer was not detected. |
| 11 | Send Message | MSG | Request message over acoustic channel. The message to send is specified by the ‘msg’ field. |
| 12 | Message Send – Queued | MSG_QUEUED | Message send request has been queued. |
| 13 | Message Send – In progress | MSG_IP | Message send request is in progress. |
| 14 | Message Send – Done | MSG_DONE | Message send request has been fulfilled. |
| 15 | Message Send – Failure | MSG_FAILURE | Message send request could not be fulfilled. |
| 16 | Send Short Message | MSG_SHORT | Request message over acoustic channel. The message to send is specified by the ‘msg’ field. |
| 17 | Initiate Reverse Range | REVERSE_RANGE | Request sending updated position to remote system so it can be ranged. |
Request a list of known underwater acoustic systems. The recipient of this message shall reply with an AcousticSystems message.
This message has no fields.
This message is sent in reply to an AcousticSystemsQuery message and lists all known underwater acoustic systems (modems, narrow band transponders, etc).
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| System List | list | List | plaintext | Comma separated list of known acoustic system names. | Same as field type |
This message is used to report the perceived link quality to other acoustic peers.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Peer Name | peer | - | plaintext | The name of the peer on the other side of this link. | Same as field type |
| Received Signal Strength Indicator | rssi | dB | fp32_t | RSSI is a signed floating point number. Higher RSSI values correspond to stronger signals. The signal strength is acceptable when measured RSSI values lie between -20 dB and -85 dB. | Same as field type |
| Signal Integrity Level | integrity | - | uint16_t | Signal Integrity value illustrates distortion of the last received acoustic signal. It is calculated based on cross-correlation measurements. Higher Signal Integrity Level values correspond to less distorted signals. An acoustic link is considered weak if the Signal Integrity Level value is less than 100. | Same as field type |
Request Acoustic sending.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Request Identifier | req_id | - | uint16_t | Same as field type | |
| Destination System | destination | - | plaintext | The name of the system where to send this message. | Same as field type |
| Timeout | timeout | s | fp64_t | Period of time to send message (in seconds). | Same as field type |
| Range | range | m | fp32_t | The meaning of this field depends on the operation and is explained in the operation’s description. | Same as field type |
| Type | type | Enumerated (Enum Type) | uint8_t | Same as field type | |
| Message To Send | msg | - | message | Argument for message send (‘MSG’) or (‘RAW’) but in this case expects DevDataBinary message requests. | Same as field type |
No description
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Abort | ABORT | - |
| 1 | Range | RANGE | - |
| 2 | Reverse Range | REVERSE_RANGE | - |
| 3 | Message | MSG | - |
| 4 | Raw | RAW | - |
Reply sent in response to a Acoustic Text sending request.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Request Identifier | req_id | - | uint16_t | Same as field type | |
| Type | type | Enumerated (Enum Type) | uint8_t | Same as field type | |
| Status | status | Enumerated (Enum Status) | uint8_t | Same as field type | |
| Information | info | - | plaintext | Status description. | Same as field type |
| Range | range | m | fp32_t | The meaning of this field depends on the operation and is explained in the operation’s description. | Same as field type |
No description
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Abort | ABORT | - |
| 1 | Range | RANGE | - |
| 2 | Reverse Range | REVERSE_RANGE | - |
| 3 | Message | MSG | - |
| 4 | Raw | RAW | - |
No description
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Queued | QUEUED | - |
| 1 | In Progress | IN_PROGRESS | - |
| 2 | Sent | SENT | - |
| 3 | Range Received | RANGE_RECEIVED | - |
| 100 | Busy | BUSY | - |
| 101 | Input Error | INPUT_FAILURE | - |
| 102 | Error trying to send acoustic text | ERROR | - |
| 666 | Message Type is not defined or is unsupported | UNSUPPORTED | - |