Remote State Packet

The Remote State Packet contains data transferred from a Remote tracked device. This data is the state of the Remote devices INS transferred across an acoustic or a network link. This packet may only contain partial data, indicated by valid flags, and will be generated whenever remote data is received on the local Subsonus.

Remote State Packet
Packet ID				25
Length				130
Read / Write				Read
Field #	Bytes Offset	Data Type	Size	Description
1	0	u16	2	Device Address
2	2	u32	4	System status valid flags, see System Status
3	6	u32	4	Filter status valid flags, see Filter Status
4	10	u32	4	System Status
5	14	u32	4	Filter Status
6	18	u32	4	Data Valid Flags
7	22	u32	4	Unix Time Seconds
8	26	u32	4	Microseconds
9	30	fp64	8	Latitude (rad)
10	38	fp64	8	Longitude (rad)
11	46	fp64	8	Height (m)
12	54	fp32	4	Velocity north (m/s)
13	58	fp32	4	Velocity east (m/s)
14	62	fp32	4	Velocity down (m/s)
15	66	fp32	4	Body acceleration X (m/s/s)
16	70	fp32	4	Body acceleration Y (m/s/s)
17	74	fp32	4	Body acceleration Z (m/s/s)
18	78	fp32	4	G force (g)
19	82	fp32	4	Roll (radians)
20	86	fp32	4	Pitch (radians)
20	90	fp32	4	Heading (radians)
22	94	fp32	4	Angular velocity X (rad/s)
23	98	fp32	4	Angular velocity Y (rad/s)
24	102	fp32	4	Angular velocity Z (rad/s)
25	106	fp32	4	Latitude standard deviation (m)
26	110	fp32	4	Longitude standard deviation (m)
27	114	fp32	4	Height standard deviation (m)
28	118	fp32	4	Roll Standard Deviation (rad)
29	122	fp32	4	Pitch Standard Deviation (rad)
30	126	fp32	4	Heading Standard Deviation (rad)

Remote State Packet

Data Valid Flags

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

Bit	Description
0	Time Seconds Valid
1	Time Microseconds Valid
2	Latitude Valid
3	Longitude Valid
4	Height Valid
5	Velocity North Valid
6	Velocity East Valid
7	Velocity Down Valid
8	Body Acceleration X Valid
9	Body Acceleration Y Valid
10	Body Acceleration Z Valid
11	G force Valid
12	Roll Valid
13	Pitch Valid
14	Heading Valid
15	Angular Velocity X Valid
16	Angular Velocity Y Valid
17	Angular Velocity Z Valid
18	Latitude Standard Deviation Valid
19	Longitude Standard Deviation Valid
20	Height Standard Deviation Valid
21	Roll Standard Deviation Valid
22	Pitch Standard Deviation Valid
23	Heading Standard Deviation Valid
24-32	Reserved

Remote State Data Valid Flags