DVL System State Packet

This packet may only contain partial data, indicated by valid flags, and will be generated whenever remote data is received on the local Subsonus.

DVL System State Packet
Packet ID 26
Length 240
Read / Write Read
Field # Bytes Offset Data Type Size Description

1

0

u16

2

Device Address, see Subsonus Device Addresses

2

2

u32

4

Observer System status, see System Status
3 6

u32

4

Observer Filter status, see Filter Status
4 10

u64

8

Data Valid Flags

5 18

u32

4

Observer Unix Time Seconds, see Unix Time Seconds
6 22

u32

4

Observer Microseconds, see Microseconds
7 26 fp64 8

Observer Latitude (radians)
8 34 fp64 8

Observer Longitude (radians)
9 42 fp64 8

Observer height (m)
10 50 fp32 4

Observer Velocity North (m/s)
11 54 fp32 4

Observer Velocity East (m/s)
12 58 fp32 4

Observer Velocity down (m/s)
13 62 fp32 4

Observer roll (radians)
14 66 fp32 4

Observer pitch (radians)
15 70 fp32 4

Observer heading (radians)
16 74 fp32 4 Observer Latitude standard deviation (radians)
17 78 fp32 4 Observer Longitude standard deviation (radians)
18 82 fp32 4 Observer height standard deviation (m)
19 86 fp32 4 Observer roll standard deviation (radians)
20 90 fp32 4 Observer pitch standard deviation (radians)
21 94 fp32 4 Observer heading standard deviation (radians)
22 98 fp32 4 Observer depth (m)
23 102 u32 4 Remote Unix Time Seconds (DVL timestamp), see Unix Time Seconds
24 106 u32 4 Remote Microseconds, see Microseconds
25 110 u8 1 Remote DVL Type
26 111 fp32 4 Remote bottom velocity North (m/s)
27 115 fp32 4 Remote bottom velocity East (m/s)
28 119 fp32 4 Remote bottom velocity Down (m/s)
29 123 fp32 4 Remote bottom velocity North standard deviation (m/s)
30 127 fp32 4 Remote bottom velocity East standard deviation (m/s)
31 131 fp32 4 Remote bottom velocity down standard deviation (m/s)
32 135 fp32 4 Remote water velocity North (m/s)
33 139 fp32 4 Remote water velocity East (m/s)
34 143 fp32 4 Remote water velocity Down (m/s)
35 147 fp32 4 Remote water velocity North standard deviation (m/s)
36 151 fp32 4 Remote water velocity East standard deviation (m/s)
37 155 fp32 4 Remote water velocity down standard deviation (m/s)
38 159 fp32 4 Remote water velocity layer depth (m)
39 163 fp32 4 Remote depth (m)
40 167 fp32 4

Remote altitude (m)
41 171 fp32 4 Remote temperature (°C)
42 175 u8 1 Track Type
43 176 fp32 4 Remote puck 1 velocity (m/s)
44 180 fp32 4 Remote puck 2 velocity (m/s)
45 184 fp32 4 Remote puck 3 velocity (m/s)
46 188 fp32 4 Remote puck 4 velocity (m/s)
47 192 fp32 4 Remote puck 1 velocity standard deviation (m/s)
48 196 fp32 4 Remote puck 2 velocity standard deviation (m/s)
49 200 fp32 4 Remote puck 3 velocity standard deviation (m/s)
50 204 fp32 4 Remote puck 4 velocity standard deviation (m/s)
51 208 fp32 4 Remote puck 1 distance (m)
52 212 fp32 4 Remote puck 2 distance (m)
53 216 fp32 4 Remote puck 3 distance (m)
54 220 fp32 4 Remote puck 4 distance (m)
55 224 fp32 4 Remote puck 1 distance standard deviation (m)
56 228 fp32 4 Remote puck 2 distance standard deviation (m)
57 232 fp32 4 Remote puck 3 distance standard deviation (m)
58 236 fp32 4 Remote puck 4 distance standard deviation (m)

DVL System State Packet

Data Valid Flags

This field contains a bit mask that determines if data contained in the DVL system state packet is valid.

Bit Description
0 Observer time valid
1 Observer position valid
2

Observer velocity valid
3 Observer orientation valid
4 Observer position standard deviation valid
5 Observer orientation standard deviation valid
6 Observer depth valid
7 Remote time valid
8 Remote bottom velocity valid
9 Remote bottom velocity standard deviation valid
10 Remote water velocity valid
11 Remote water velocity standard deviation valid
12 Remote depth valid
13 Remote altitude valid
14 Remote temperature valid
15 Remote puck 1 valid
16 Remote puck 2 valid
17 Remote puck 3 valid
18 Remote puck 4 valid
19 Remote puck 1 velocity valid
20 Remote puck 2 velocity valid
21 Remote puck 3 velocity valid
22 Remote puck 4 velocity valid
23 Remote puck 1 velocity error valid
24 Remote puck 2 velocity error valid
25 Remote puck 3 velocity error valid
26 Remote puck 4 velocity error valid
27 Remote puck 1 range valid
28 Remote puck 2 range valid
29 Remote puck 3 range valid
30 Remote puck 4 range valid
31 Remote puck 1 range error valid
32 Remote puck 2 range error valid
33 Remote puck 3 range error valid
34 Remote puck 4 range error valid
35-64 Reserved (set to 0)

Data Valid Flags

Remote DVL Type

Value Description
0 Generic
1 Advanced Navigation Hydrus
2

Water Linked A50
3 Water Linked A125
4 Nortek DVL1000
5 Nortek DVL500
6 Nortek DVL333
7 Teledyne Wayfinder
8 Teledyne Pathfinder

Remote DVL Type

Track Type

Value Description
0 Bottom
1 Water

Track Type