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 |
Report of an LBL detection.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Transmission | tx | - | uint8_t | True for transmission detections. | Same as field type |
| Channel | channel | - | uint8_t | Channel. | Same as field type |
| Timer | timer | - | uint16_t | Internal Timer Value. | 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. | Same as field type |
| Longitude WGS-84 | lon | rad | fp64_t | WGS-84 Longitude coordinate. | Same as field type |
| 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 | uint8_t | Used to define the type of the operation this message holds. | Same as field type |
| Beacons | beacons | - | message-list | A list of LBL beacon configuration messages. | Same as field type |
Issue an acoustic range command.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Target Modem Address | address | - | uint8_t | Target modem address. | Same as field type |
Acoustic range measure in response to a range command.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Target Modem Address | address | - | uint8_t | Target modem address. | Same as field type |
| Status | status | Enumerated | uint8_t | Status indicating reply to range request. | Same as field type |
| Range | range | m | fp32_t | Range measure obtained. Usable if status indicates successful reply. | Same as field type |
Send an acoustic message.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Message to send | message | - | message | Message to send. | Same as field type |
Enable/Disable Acoustic Diagnostic.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Enable | enable | - | uint8_t | Enable/Disable diagnostic. | Same as field type |
Report on the conditions of the underwater medium, for when acoustic diagnostics are enabled.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Summary | summary | Enumerated | uint8_t | Noise level characterization. | Same as field type |
| Noise Level | level | dB | uint8_t | Noise level value. | Same as field type |
Ping remote modem.
This message has no fields.
Acoust Ping Reply.
This message has no fields.
Acoustic operation.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Operation | op | Enumerated | 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 |
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 |