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	PSU	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

Dissolved Organic Matter

Dissolved Organic Matter measurement.

• Abbreviation: DissolvedOrganicMatter
• Identification Number: 903
• Payload Size: 5 bytes
• Message Size: 27 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Dissolved Organic Matter reading.	Same as field type
Type of measurement	type	Enumerated (Enum Type of measurement)	uint8_t	Type of measurement.	Same as field type

Enum Type of measurement

Type of measurement.

• Abbreviation: type
• Prefix: DT

Value	Name	Abbreviation	Description
0	Colored	COLORED	-
1	Fluorescent	FLUORESCENT	-

Optical Backscattering Coefficient

The optical backscattering coefficient refers to all the photons that have been redirected in the backward directions when a photon of light propagates in water and interacts with a “particle” (varying from water molecules to fish).

• Abbreviation: OpticalBackscatter
• Identification Number: 904
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	1/m	fp32_t	Optical Backscattering Coefficient.	Same as field type

SADC Readings

Readings from SADC board.

• Abbreviation: SadcReadings
• Identification Number: 907
• Payload Size: 6 bytes
• Message Size: 28 bytes

Name	Abbreviation	Unit	Type	Description	Range
Channel	channel	-	int8_t	Channel of SADC to read.	min=1, max=4
Value	value	-	int32_t	Value raw of sadc channel.	Same as field type
Gain	gain	Enumerated (Enum Gain)	uint8_t	Gain value of readings.	Same as field type

Enum Gain

Gain value of readings.

• Abbreviation: gain
• Prefix: GAIN

Value	Name	Abbreviation	Description
0	x1	X1	-
1	x10	X10	-
2	x100	X100	-

DMS Detection

Presence of DMS (Dimethyl Sulphide). If the value of the channel is greater than zero, it means DMS was detected.

• Abbreviation: DmsDetection
• Identification Number: 908
• Payload Size: 64 bytes
• Message Size: 86 bytes

Name	Abbreviation	Unit	Type	Description	Range
Channel 1	ch01	-	fp32_t		Same as field type
Channel 2	ch02	-	fp32_t		Same as field type
Channel 3	ch03	-	fp32_t		Same as field type
Channel 4	ch04	-	fp32_t		Same as field type
Channel 5	ch05	-	fp32_t		Same as field type
Channel 6	ch06	-	fp32_t		Same as field type
Channel 7	ch07	-	fp32_t		Same as field type
Channel 8	ch08	-	fp32_t		Same as field type
Channel 9	ch09	-	fp32_t		Same as field type
Channel 10	ch10	-	fp32_t		Same as field type
Channel 11	ch11	-	fp32_t		Same as field type
Channel 12	ch12	-	fp32_t		Same as field type
Channel 13	ch13	-	fp32_t		Same as field type
Channel 14	ch14	-	fp32_t		Same as field type
Channel 15	ch15	-	fp32_t		Same as field type
Channel 16	ch16	-	fp32_t		Same as field type

Current Profile

Contains a profile of water velocities measured relative to the vehicle velocity, represented in the specified coordinate system.

• Abbreviation: CurrentProfile
• Identification Number: 1014
• Payload Size: 5+ bytes
• Message Size: 27+ bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Number of Beams	nbeams	-	uint8_t	Number of ADCP beams.	Same as field type
Number of Cells	ncells	-	uint8_t	Number of ADCP cells.	Same as field type
Coordinate System	coord_sys	Bitfield (Bitfield Coordinate System)	uint8_t	Coordinate system of the velocity measurement.	Same as field type
Profile	profile	-	message-list (Current Profile Cell)	List of current profile measurement cells.	Same as field type

Bitfield Coordinate System

Coordinate system of the velocity measurement.

• Abbreviation: coord_sys
• Prefix: UTF

Value	Name	Abbreviation	Description
0x01	xyz	XYZ	-
0x02	ned	NED	-
0x04	beams	BEAMS	-

Current Profile Cell

One Current measurement at a specific CellPosition.

• Abbreviation: CurrentProfileCell
• Identification Number: 1015
• Payload Size: 6+ bytes
• Message Size: 28+ bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Cell Position	cell_position	m	fp32_t	Distance of each measurment cell along the Z-axis in the coordintate frame.	Same as field type
Beams Measurements	beams	-	message-list (ADCP Beam Measurements)	List of beams measurements at the current cell level.	Same as field type

ADCP Beam Measurements

Measurement from one specific beam at the given CellPosition. Water Velocity is provided in the chosen Coordinate system. Amplitude and Correlation are always in the BEAM coordinate system.

• Abbreviation: ADCPBeam
• Identification Number: 1016
• Payload Size: 9 bytes
• Message Size: 31 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Water Velocity	vel	m/s	fp32_t	Water velocity measured in the chosen coordinate system.	Same as field type
Amplitude	amp	dB	fp32_t	Amplitude of returning ping for the beam.	Same as field type
Correlation	cor	%	uint8_t	Autocorrelation of returning ping for the beam.	min=0, max=100

Colored Dissolved Organic Matter

Colored Dissolved Organic Matter measurement.

• Abbreviation: ColoredDissolvedOrganicMatter
• Identification Number: 2003
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Colored Dissolved Organic Matter reading.	Same as field type

Fluorescent Dissolved Organic Matter

Fluorescent Dissolved Organic Matter measurement.

• Abbreviation: FluorescentDissolvedOrganicMatter
• Identification Number: 2004
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Fluorescent Dissolved Organic Matter reading.	Same as field type

Total Magnetic Field Intensity

No description

• Abbreviation: TotalMagIntensity
• Identification Number: 2006
• Payload Size: 8 bytes
• Message Size: 30 bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	-	fp64_t	Total Magnetic Field Intensity (TMI)	Same as field type

Sonar Pulse

Information regarding a sent/received Sonar pulse.

• Abbreviation: SonarPulse
• Identification Number: 2013
• Payload Size: 16 bytes
• Message Size: 38 bytes

Name	Abbreviation	Unit	Type	Description	Range
Frequency	frequency	Hz	int32_t	Frequency of the sent/received sonar pulse.	Same as field type
Pulse Length	pulse_length	ms	int32_t	Pulse Length of the sonar pulse.	Same as field type
Time Delay	time_delay	ms	int32_t	Time Delay of the sonar pulse.	Same as field type
Simulated Speed	simulated_speed	m/s	int32_t	Doppler shift added to the sonar pulse in retransmission	Same as field type