Sensors Messages¶

Revolutions Per Minute¶

Number of revolutions per minute.

Abbreviation: Rpm
Identification Number: 250
Payload Size: 2 bytes
Message Size: 24 bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	rpm	int16_t	Number of revolutions per minute.	Same as field type

Voltage¶

Report of electrical voltage.

Abbreviation: Voltage
Identification Number: 251
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Voltage Value	value	V	fp32_t	The value of the internal electrical voltage as measured by the sensor.	Same as field type

Current¶

Report of electrical current.

Abbreviation: Current
Identification Number: 252
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Current Value	value	A	fp32_t	The value of the internal electrical current as measured by the sensor.	Same as field type

GPS Fix¶

Report of a GPS fix.

Abbreviation: GpsFix
Identification Number: 253
Payload Size: 56 bytes
Message Size: 78 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Validity	validity	Bitfield (Bitfield Validity)	uint16_t	Validity of fields.	Same as field type
Type	type	Enumerated (Enum Type)	uint8_t	Type of fix.	Same as field type
UTC Year	utc_year	-	uint16_t	UTC year.	Same as field type
UTC Month	utc_month	-	uint8_t	UTC month.	Same as field type
UTC Day	utc_day	-	uint8_t	UTC day.	Same as field type
UTC Time of Fix	utc_time	s	fp32_t	UTC time of the GPS fix measured in seconds since 00:00:00 (midnight).	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
Height above WGS-84 ellipsoid	height	m	fp32_t	Height above WGS-84 ellipsoid.	Same as field type
Number of Satellites	satellites	-	uint8_t	Number of satellites used by the GPS device to compute the solution.	Same as field type
Course Over Ground	cog	rad	fp32_t	Course Over Ground (true).	Same as field type
Speed Over Ground	sog	m/s	fp32_t	Speed Over Ground.	Same as field type
Horizontal Dilution of Precision	hdop	-	fp32_t	Horizontal dilution of precision.	Same as field type
Vertical Dilution of Precision	vdop	-	fp32_t	Vertical dilution of precision.	Same as field type
Horizontal Accuracy Estimate	hacc	m	fp32_t	Horizontal Accuracy Estimate.	Same as field type
Vertical Accuracy Estimate	vacc	m	fp32_t	Vertical Accuracy Estimate.	Same as field type

Bitfield Validity¶

Validity of fields.

Abbreviation: validity
Prefix: GFV

Value	Name	Abbreviation	Description
0x0001	Valid Date	VALID_DATE	Fields ‘utc_year’, ‘utc_month’ and ‘utc_day’ are valid.
0x0002	Valid Time	VALID_TIME	Field ‘utc_time’ is valid.
0x0004	Valid Position	VALID_POS	Fields ‘lat’, ‘lon’, ‘altitude’ and ‘satellites’ are valid.
0x0008	Valid Course Over Ground	VALID_COG	Field ‘cog’ is valid.
0x0010	Valid Speed Over Ground	VALID_SOG	Field ‘sog’ is valid.
0x0020	Valid Horizontal Accuracy Estimate	VALID_HACC	Field ‘hacc’ is valid.
0x0040	Valid Vertical Accuracy Estimate	VALID_VACC	Field ‘vacc’ is valid.
0x0080	Valid Horizontal Dilution of Precision	VALID_HDOP	Field ‘hdop’ is valid.
0x0100	Valid Vertical Dilution of Precision	VALID_VDOP	Field ‘vdop’ is valid.

Enum Type¶

Type of fix.

Abbreviation: type
Prefix: GFT

Value	Name	Abbreviation	Description
0x00	Stand Alone	STANDALONE	Stand alone solution.
0x01	Differential	DIFFERENTIAL	Differential solution.
0x02	Dead Reckoning	DEAD_RECKONING	Dead reckoning solution.
0x03	Manual Input	MANUAL_INPUT	Manual solution.
0x04	Simulation	SIMULATION	Simulated solution.

Euler Angles¶

Report of spatial orientation according to SNAME’s notation (1950).

Abbreviation: EulerAngles
Identification Number: 254
Payload Size: 40 bytes
Message Size: 62 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
Roll Angle	phi	rad	fp64_t	Rotation around the vehicle longitudinal axis.	min=-3.141592653589793, max=3.141592653589793
Pitch Angle	theta	rad	fp64_t	Rotation around the vehicle lateral or transverse axis.	min=-1.57079632679490, max=1.57079632679490
Yaw Angle (True)	psi	rad	fp64_t	Rotation around the vehicle vertical axis. A value of 0 means the vehicle is oriented towards true north. In cases where the sensor cannot measure the true heading, this field will have the same value as Yaw (Magnetic).	min=-3.141592653589793, max=3.141592653589793
Yaw Angle (Magnetic)	psi_magnetic	rad	fp64_t	Rotation around the vehicle vertical axis. A value of 0 means the vehicle is oriented towards magnetic north. In cases where the sensor cannot measure the magnetic heading, this field will have the same value as Yaw (True).	min=-3.141592653589793, max=3.141592653589793

Euler Angles Delta¶

Component of incremetal orientation vector over a period of time.

Abbreviation: EulerAnglesDelta
Identification Number: 255
Payload Size: 36 bytes
Message Size: 58 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	rad	fp64_t	X component.	Same as field type
Y	y	rad	fp64_t	Y component.	Same as field type
Z	z	rad	fp64_t	Z component.	Same as field type
Timestep	timestep	s	fp32_t	Period of time of the orientation vector increments.	Same as field type

Angular Velocity¶

Vector quantifying the direction and magnitude of the measured angular velocity that a device is exposed to.

Abbreviation: AngularVelocity
Identification Number: 256
Payload Size: 32 bytes
Message Size: 54 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	rad/s	fp64_t	X component.	Same as field type
Y	y	rad/s	fp64_t	Y component.	Same as field type
Z	z	rad/s	fp64_t	Z component.	Same as field type

Acceleration¶

Vector quantifying the direction and magnitude of the measured acceleration that a device is exposed to.

Abbreviation: Acceleration
Identification Number: 257
Payload Size: 32 bytes
Message Size: 54 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	m/s/s	fp64_t	X component.	Same as field type
Y	y	m/s/s	fp64_t	Y component.	Same as field type
Z	z	m/s/s	fp64_t	Z component.	Same as field type

Magnetic Field¶

Vector quantifying the direction and magnitude of the measured magnetic field that a device is exposed to.

Abbreviation: MagneticField
Identification Number: 258
Payload Size: 32 bytes
Message Size: 54 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	G	fp64_t	X component.	Same as field type
Y	y	G	fp64_t	Y component.	Same as field type
Z	z	G	fp64_t	Z component.	Same as field type

Ground Velocity¶

Vector quantifying the direction and magnitude of the measured velocity relative to the ground that a device is exposed to.

Abbreviation: GroundVelocity
Identification Number: 259
Payload Size: 25 bytes
Message Size: 47 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Validity	validity	Bitfield (Bitfield Validity)	uint8_t	Each bit of this field represents if a given velocity component is valid.	Same as field type
X	x	m/s	fp64_t	X component.	Same as field type
Y	y	m/s	fp64_t	Y component.	Same as field type
Z	z	m/s	fp64_t	Z component.	Same as field type

Bitfield Validity¶

Each bit of this field represents if a given velocity component is valid.

Abbreviation: validity
Prefix: VAL

Value	Name	Abbreviation	Description
0x01	X component is valid	VEL_X	-
0x02	Y component is valid	VEL_Y	-
0x04	Z component is valid	VEL_Z	-

Water Velocity¶

Vector quantifying the direction and magnitude of the measured velocity relative to the water that a device is exposed to.

Abbreviation: WaterVelocity
Identification Number: 260
Payload Size: 25 bytes
Message Size: 47 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Validity	validity	Bitfield (Bitfield Validity)	uint8_t	Each bit of this field represents if a given velocity component is valid.	Same as field type
X	x	m/s	fp64_t	X component.	Same as field type
Y	y	m/s	fp64_t	Y component.	Same as field type
Z	z	m/s	fp64_t	Z component.	Same as field type

Bitfield Validity¶

Each bit of this field represents if a given velocity component is valid.

Abbreviation: validity
Prefix: VAL

Value	Name	Abbreviation	Description
0x01	X component is valid	VEL_X	-
0x02	Y component is valid	VEL_Y	-
0x04	Z component is valid	VEL_Z	-

Velocity Delta¶

Component of incremetal velocity vector.

Abbreviation: VelocityDelta
Identification Number: 261
Payload Size: 32 bytes
Message Size: 54 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	m/s	fp64_t	X component.	Same as field type
Y	y	m/s	fp64_t	Y component.	Same as field type
Z	z	m/s	fp64_t	Z component.	Same as field type

Distance¶

Distance measurement detected by the device.

Abbreviation: Distance
Identification Number: 262
Payload Size: 9+ bytes
Message Size: 31+ bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Validity	validity	Enumerated (Enum Validity)	uint8_t	Validity of the measurement.	Same as field type
Location	location	-	message-list (Device State)	Device Location in the system.	Same as field type
Beam Configuration	beam_config	-	message-list (Beam Configuration)	Beam configuration of the device.	Same as field type
Measured Distance	value	m	fp32_t	Measured distance.	Same as field type

Enum Validity¶

Validity of the measurement.

Abbreviation: validity
Prefix: DV

Value	Name	Abbreviation	Description
0	Invalid	INVALID	Measurement is invalid.
1	Valid	VALID	Measurement is valid.

Temperature¶

Report of temperature.

Abbreviation: Temperature
Identification Number: 263
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Temperature	value	°C	fp32_t	The value of the temperature as measured by the sensor.	Same as field type

Pressure¶

Report of external pressure.

Abbreviation: Pressure
Identification Number: 264
Payload Size: 8 bytes
Message Size: 30 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Pressure	value	hPa	fp64_t	The value of the pressure as measured by the sensor.	Same as field type

Depth¶

Depth report.

Abbreviation: Depth
Identification Number: 265
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Depth	value	m	fp32_t	Depth value measured by a sensor.	Same as field type

Depth Offset¶

Report of Depth Offset.

Abbreviation: DepthOffset
Identification Number: 266
Payload Size: 4 bytes
Message Size: 26 bytes

Name	Abbreviation	Unit	Type	Description	Range
Measured Offset	value	m	fp32_t	Depth offset.	Same as field type

Sound Speed¶

Sound Speed report.

Abbreviation: SoundSpeed
Identification Number: 267
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Computed Sound Speed	value	m/s	fp32_t	Estimated sound speed. Negative values denote invalid estimates.	Same as field type

Water Density¶

Water Density report.

Abbreviation: WaterDensity
Identification Number: 268
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Computed Water Density	value	kg/m/m/m	fp32_t	Computed Water Density.	Same as field type

Conductivity¶

Report of conductivity.

Abbreviation: Conductivity
Identification Number: 269
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Conductivity	value	S/m	fp32_t	The value of the conductivity as measured by the sensor.	Same as field type

Salinity¶

Report of salinity.

Abbreviation: Salinity
Identification Number: 270
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Salinity	value	-	fp32_t	The value of the salinity as measured by the sensor.	Same as field type

Wind Speed¶

Measurement of wind speed.

Abbreviation: WindSpeed
Identification Number: 271
Payload Size: 12 bytes
Message Size: 34 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Direction	direction	rad	fp32_t	Direction of the measured wind speed.	Same as field type
Speed	speed	m/s	fp32_t	The value of the wind speed as measured by the sensor.	Same as field type
Turbulence	turbulence	m/s	fp32_t	Wind turbulence intensity.	Same as field type

Relative Humidity¶

Measurement of relative humidity.

Abbreviation: RelativeHumidity
Identification Number: 272
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Relative Humidity Value	value	-	fp32_t	Value of relative humidity.	min=0, max=100

Device Data (Text)¶

Verbatim representation of device data in plain text format.

Abbreviation: DevDataText
Identification Number: 273
Payload Size: 2+ bytes
Message Size: 24+ bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	-	plaintext	Plain text data as extracted directly from the device.	Same as field type

Device Data (Binary)¶

Verbatim representation of device data in binary format.

Abbreviation: DevDataBinary
Identification Number: 274
Payload Size: 2+ bytes
Message Size: 24+ bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	-	rawdata	Raw binary data as extracted directly from the device.	Same as field type

Force¶

Force measurement.

Abbreviation: Force
Identification Number: 275
Payload Size: 4 bytes
Message Size: 26 bytes

Name	Abbreviation	Unit	Type	Description	Range
Measured Force	value	N	fp32_t	Force magnitude.	Same as field type

Sonar Data¶

This message contains the data acquired by a single sonar measurement. The following describes the format used to fill the data field used in this message. (Byte order is little endian.)

Sidescan:

Data	Name	Type
A	Ranges data	uintX_t

The type uintX_t will depend on the number of bits per unit, and it should be a multiple of 8.
Furthermore, for now, 32 bits is the highest value of bits per unit supported.

Multibeam:

Index	Section	Name	Type	Comments
1	H1	Number of points	uint16_t	Number of data points
2	H2	Start angle	fp32_t	In radians
3	H3	Flags	uint8_t	Refer to next table
4	H4 ?	Angle scale factor	fp32_t	Used for angle steps in radians
5	H5 ?	Intensities scale factor	fp32_t
6	D1 ?	Angle steps[H1]	uint16_t	Values in radians
7	D2	Ranges[H1]	uintX_t	Ranges data points (scale factor from common field “Scaling Factor”)
8	D3 ?	Intensities[H1]	uintX_t	Intensities data points

Section	Flag Label	Bit
H4.1	Intensities flag	0
H4.2	Angle step flag	1

Notes:

Each angle at step i can be calculated is defined by:

angle[i] = H2_start_angle + (32-bit sum of D1_angle_step[0] through D1_angle_step[i]) * H4_scaling_factor

If bit H4.1 is not set then sections H5 and D3 won’t exist.
If bit H4.2 is not set then sections H4 and D1 won’t exist. In case this bit is set, then the angle steps is read from field “Beam Width” from “Beam Configuration”.
The type uintX_t will depend on the number of bits per unit, and it should be a multiple of 8.
Furthermore, for now, 32 bits is the highest value of bits per unit supported.

How to write ranges and intensities data:

data_unit = (Integer) (data_value / scale_factor);
bytes_per_unit = bits_per_unit / 8;
LOOP: i = 0, until i = bytes_per_unit
    byte[i] = (data_unit >> 8 * i) & 0xFF);

write(byte);

Common:

Abbreviation: SonarData
Identification Number: 276
Payload Size: 18+ bytes
Message Size: 40+ bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Type	type	Enumerated (Enum Type)	uint8_t	Type of sonar.	Same as field type
Frequency	frequency	Hz	uint32_t	Operating frequency.	Same as field type
Minimum Range	min_range	m	uint16_t	Minimum range.	Same as field type
Maximum Range	max_range	m	uint16_t	Maximum range.	Same as field type
Bits Per Data Point	bits_per_point	bit	uint8_t	Size of the data unit. (Should be multiple of 8)	Same as field type
Scaling Factor	scale_factor	-	fp32_t	Scaling factor used to multiply each data unit to restore the original floating point value.	Same as field type
Beam Configuration	beam_config	-	message-list (Beam Configuration)	Beam configuration of the device.	Same as field type
Data	data	-	rawdata	Data acquired by the measurement.	Same as field type

Enum Type¶

Type of sonar.

Abbreviation: type
Prefix: ST

Value	Name	Abbreviation	Description
0	Sidescan	SIDESCAN	-
1	Echo Sounder	ECHOSOUNDER	-
2	Multibeam	MULTIBEAM	-

Pulse¶

Hardware pulse detection.

Abbreviation: Pulse
Identification Number: 277
Payload Size: 0 bytes
Message Size: 22 bytes
Flags: periodic

This message has no fields.

Pulse Detection Control¶

Control of hardware pulse detection.

Abbreviation: PulseDetectionControl
Identification Number: 278
Payload Size: 1 bytes
Message Size: 23 bytes

Name	Abbreviation	Unit	Type	Description	Range
Operation	op	Enumerated (Enum Operation)	uint8_t	Activate or deactivate hardware pulse detection.	Same as field type

Enum Operation¶

Activate or deactivate hardware pulse detection.

Abbreviation: op
Prefix: POP

Value	Name	Abbreviation	Description
0	Pulse Detection OFF	OFF	-
1	Pulse Detection ON	ON	-

Fuel Level¶

Report of fuel level.

Abbreviation: FuelLevel
Identification Number: 279
Payload Size: 10+ bytes
Message Size: 32+ bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	%	fp32_t	Fuel level percentage of the system.	min=0, max=100
Confidence Level	confidence	%	fp32_t	Percentage level of confidence in the estimation of the amount of energy in the batteries.	min=0, max=100
Operation Modes	opmodes	TupleList	plaintext	Operation mode name and the estimated time available in that mode in hours. Example: “Motion=1.5”	Same as field type

GPS Navigation Data¶

Report of GPS navigation data.

Abbreviation: GpsNavData
Identification Number: 280
Payload Size: 68 bytes
Message Size: 90 bytes

Name	Abbreviation	Unit	Type	Description	Range
GPS Millisecond Time of Week	itow	ms	uint32_t	GPS Millisecond Time of Week.	Same as field type
Latitude	lat	rad	fp64_t	Latitude.	Same as field type
Longitude	lon	rad	fp64_t	Longitude.	Same as field type
Height above ellipsoid	height_ell	m	fp32_t	Height Above Ellipsoid.	Same as field type
Height above sea level	height_sea	m	fp32_t	Height Above Sea Level.	Same as field type
Horizontal Accuracy Estimate	hacc	m	fp32_t	Horizontal Accuracy Estimate.	Same as field type
Vertical Accuracy Estimate	vacc	m	fp32_t	Vertical Accuracy Estimate.	Same as field type
NED North Velocity	vel_n	m/s	fp32_t	NED North Velocity.	Same as field type
NED East Velocity	vel_e	m/s	fp32_t	NED East Velocity.	Same as field type
NED Down Velocity	vel_d	m/s	fp32_t	NED Down Velocity.	Same as field type
Speed (3D)	speed	m/s	fp32_t	NED Down Velocity.	Same as field type
Ground Speed (2D)	gspeed	m/s	fp32_t	NED Down Velocity.	Same as field type
Heading (2D)	heading	rad	fp32_t	NED Down Velocity.	Same as field type
Speed Accuracy Estimate	sacc	m/s	fp32_t	NED Down Velocity.	Same as field type
Course / Heading Accuracy Estimate	cacc	rad	fp32_t	Course / Heading Accuracy Estimate.	Same as field type

Servo Position¶

Actual position of a servo.

Abbreviation: ServoPosition
Identification Number: 281
Payload Size: 5 bytes
Message Size: 27 bytes

Name	Abbreviation	Unit	Type	Description	Range
Identifier	id	-	uint8_t	Servo identifier.	Same as field type
Position	value	rad	fp32_t	Value of the servo position.	min=-1.5707963267948966, max=1.5707963267948966

Device State¶

Location of a specific device in the system infrastructure.

Abbreviation: DeviceState
Identification Number: 282
Payload Size: 24 bytes
Message Size: 46 bytes

Name	Abbreviation	Unit	Type	Description	Range
Device Position - X	x	m	fp32_t	Device’s position over the X axis.	Same as field type
Device Position - Y	y	m	fp32_t	Device’s position over the Y axis.	Same as field type
Device Position - Z	z	m	fp32_t	Device’s position over the Z axis.	Same as field type
Device Rotation - X	phi	rad	fp32_t	Device’s rotation over the X axis.	Same as field type
Device Rotation - Y	theta	rad	fp32_t	Device’s rotation over the Y axis.	Same as field type
Device Rotation - Z	psi	rad	fp32_t	Device’s rotation over the Z axis.	Same as field type

Beam Configuration¶

Beam configuration of the device.

Abbreviation: BeamConfig
Identification Number: 283
Payload Size: 8 bytes
Message Size: 30 bytes

Name	Abbreviation	Unit	Type	Description	Range
Beam Width	beam_width	rad	fp32_t	Beam width of the instrument. A negative number denotes that this information is not available or is not applicable.	min=0, max=3.141592653589793
Beam Height	beam_height	rad	fp32_t	Beam height of the instrument. A negative number denotes that this information is not available or is not applicable.	min=0, max=3.141592653589793

Data Sanity¶

Report sanity or lack of it in the data output by a sensor.

Abbreviation: DataSanity
Identification Number: 284
Payload Size: 1 bytes
Message Size: 23 bytes

Name	Abbreviation	Unit	Type	Description	Range
Sanity	sane	Enumerated (Enum Sanity)	uint8_t	Whether the data is sane or not sane.	Same as field type

Enum Sanity¶

Whether the data is sane or not sane.

Abbreviation: sane
Prefix: DS

Value	Name	Abbreviation	Description
0	Sane	SANE	Data is sane.
1	Not Sane	NOT_SANE	Data is not sane.

Rhodamine Dye¶

Rhodamine Dye measurement.

Abbreviation: RhodamineDye
Identification Number: 285
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Amount of rhodamine dye detected.	Same as field type

Crude Oil¶

Crude oil measurement.

Abbreviation: CrudeOil
Identification Number: 286
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Amount of crude oil detected.	Same as field type

Fine Oil¶

Fine oil measurement.

Abbreviation: FineOil
Identification Number: 287
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Amount of fine oil detected.	Same as field type

Turbidity¶

Turbidity measurement.

Abbreviation: Turbidity
Identification Number: 288
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	NTU	fp32_t	Turbidity reading.	Same as field type

Chlorophyll¶

Chlorophyll measurement.

Abbreviation: Chlorophyll
Identification Number: 289
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	µg/L	fp32_t	Chlorophyll reading.	Same as field type

Fluorescein¶

Fluorescein measurement.

Abbreviation: Fluorescein
Identification Number: 290
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Fluorescein reading.	Same as field type

Phycocyanin¶

Phycocyanin measurement.

Abbreviation: Phycocyanin
Identification Number: 291
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Phycocyanin reading.	Same as field type

Phycoerythrin¶

Phycoerythrin measurement.

Abbreviation: Phycoerythrin
Identification Number: 292
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Phycoerythrin reading.	Same as field type

GPS Fix RTK¶

Report of an RTK-GPS fix.

Abbreviation: GpsFixRtk
Identification Number: 293
Payload Size: 58 bytes
Message Size: 80 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Validity	validity	Bitfield (Bitfield Validity)	uint16_t	Validity of fields.	Same as field type
Type	type	Enumerated (Enum Type)	uint8_t	Type of fix.	Same as field type
GPS Time of Week	tow	-	uint32_t	GPS Time of Week.	Same as field type
Base Latitude WGS-84	base_lat	rad	fp64_t	WGS-84 Latitude coordinate of the base.	min=-1.5707963267948966, max=1.5707963267948966
Base Longitude WGS-84	base_lon	rad	fp64_t	WGS-84 Longitude coordinate of the base.	min=-3.141592653589793, max=3.141592653589793
Base Height above WGS-84 ellipsoid	base_height	m	fp32_t	Height above WGS-84 ellipsoid of the base.	Same as field type
Position North	n	m	fp32_t	Baseline North coordinate.	Same as field type
Position East	e	m	fp32_t	Baseline East coordinate.	Same as field type
Position Down	d	m	fp32_t	Baseline Down coordinate.	Same as field type
Velocity North	v_n	m/s	fp32_t	Velocity North coordinate.	Same as field type
Velocity East	v_e	m/s	fp32_t	Velocity East coordinate.	Same as field type
Velocity Down	v_d	m/s	fp32_t	Velocity Down coordinate.	Same as field type
Number of Satellites	satellites	-	uint8_t	Number of satellites used in solution.	Same as field type
IAR Hypotheses	iar_hyp	-	uint16_t	Number of hypotheses in the Integer Ambiguity Resolution (smaller is better).	Same as field type
IAR Ratio	iar_ratio	-	fp32_t	Quality ratio of Integer Ambiguity Resolution (bigger is better).	Same as field type

Bitfield Validity¶

Validity of fields.

Abbreviation: validity
Prefix: RFV

Value	Name	Abbreviation	Description
0x0001	Valid Time	VALID_TIME	Field ‘tow’ is valid.
0x0002	Valid Base LLH	VALID_BASE	Fields ‘base_lat’, ‘base_lon’ and ‘base_height’ are valid.
0x0004	Valid Position	VALID_POS	Fields ‘n’, ‘e’, ‘d’ are valid.
0x0008	Valid Velocity	VALID_VEL	Fields ‘v_n’, ‘v_e’, ‘v_d’ are valid.

Enum Type¶

Type of fix.

Abbreviation: type
Prefix: RTK

Value	Name	Abbreviation	Description
0x00	None	NONE	No solution, but RTK task is running.
0x01	Obs	OBS	No solution, but receiving observations.
0x02	Float	FLOAT	Floating point solution of IAR.
0x03	Fixed	FIXED	Fixed (single) solution of IAR.

External Navigation Data¶

This message is a representation of the state of the vehicle, as seen by an external navigation computer.

An example usage is when DUNE is used with ardupilot. The data gathered from the autopilot is a complete navigation solution.

ExternalNavData contains an inline Estimated State, which is a complete description of the system in terms of parameters such as position, orientation and velocities at a particular moment in time.

The Type field selects wether the navigation data is a full state estimation, or only concerns attitude or position/velocity.

Abbreviation: ExternalNavData
Identification Number: 294
Payload Size: 91 bytes
Message Size: 113 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Estimated State	state	-	message (Estimated State)	External Navigation Data.	Same as field type
Nav Data Type	type	Enumerated (Enum Nav Data Type)	uint8_t	The type of external navigation data	Same as field type

Enum Nav Data Type¶

The type of external navigation data

Abbreviation: type
Prefix: EXTNAV

Value	Name	Abbreviation	Description
0	Full State	FULL	-
1	Attitude Heading Reference System Only	AHRS	-
2	Position Reference System only	POSREF	-

Dissolved Oxygen¶

Dissolved Oxygen measurement.

Abbreviation: DissolvedOxygen
Identification Number: 295
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	µM	fp32_t	Dissolved Oxygen reading.	Same as field type

Air Saturation¶

Air Saturation measurement.

Abbreviation: AirSaturation
Identification Number: 296
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	%	fp32_t	Air Saturation reading.	Same as field type

Throttle¶

Throttle e.g. for Plane/Copter .

Abbreviation: Throttle
Identification Number: 297
Payload Size: 8 bytes
Message Size: 30 bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	%	fp64_t	The value of the desired throttle.	Same as field type

pH¶

Report of pH.

Abbreviation: PH
Identification Number: 298
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	-	fp32_t	The value of the pH as measured by the sensor.	Same as field type

Redox Potential¶

Report of Redox Potential.

Abbreviation: Redox
Identification Number: 299
Payload Size: 4 bytes
Message Size: 26 bytes
Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	V	fp32_t	The value of the Redox as measured by the sensor.	Same as field type

Sensors Messages¶

Revolutions Per Minute¶

Voltage¶

Current¶

GPS Fix¶

Bitfield Validity¶

Enum Type¶

Euler Angles¶

Euler Angles Delta¶

Angular Velocity¶

Acceleration¶

Magnetic Field¶

Ground Velocity¶

Bitfield Validity¶

Water Velocity¶

Bitfield Validity¶

Velocity Delta¶

Distance¶

Enum Validity¶

Temperature¶

Pressure¶

Depth¶

Depth Offset¶

Sound Speed¶

Water Density¶

Conductivity¶

Salinity¶

Wind Speed¶

Relative Humidity¶

Device Data (Text)¶

Device Data (Binary)¶

Force¶

Sonar Data¶

Enum Type¶

Pulse¶

Pulse Detection Control¶

Enum Operation¶

Fuel Level¶

GPS Navigation Data¶

Servo Position¶

Device State¶

Beam Configuration¶

Data Sanity¶

Enum Sanity¶

Rhodamine Dye¶

Crude Oil¶

Fine Oil¶

Turbidity¶

Chlorophyll¶

Fluorescein¶

Phycocyanin¶

Phycoerythrin¶

GPS Fix RTK¶

Bitfield Validity¶

Enum Type¶

External Navigation Data¶

Enum Nav Data Type¶

Dissolved Oxygen¶

Air Saturation¶

Throttle¶

pH¶

Redox Potential¶

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