Remote Track Packet

The Remote Track packet contains position, velocity and orientation information obtained through an acoustic track event only. The local Subsonus is the sender of this packet and will output the position of the remote object based on the acoustic positioning calculation performed by the master unit.

This packet is generated when the Subsonus calculates an acoustic position or angle. The fields in this packet contain data for both the Local device and the Remote device.

Note: The Remote Tracked will output the position of the remote device based on the calculations performed by the master using the acoustic position data only. For higher accuracy position data, outputting the State Packets from the remote unit directly is recommended, as this is calculated using data from the remote INS, acoustic communication and any external aiding devices such as a DVL.

Remote Track Packet
Packet ID				24
Length				211
Read / Write				Read
Field #	Bytes Offset	Data Type	Size	Description
1	0	u16	2	Device Address
2	2	u8	1	Tracking Status
3	3	u32	4	System Status
4	7	u32	4	Filter Status
5	11	u32	4	Data Valid Flags
6	15	u32	4	Unix Time Seconds
7	19	u32	4	Microseconds
8	23	fp64	8	Local Latitude (rad)
9	31	fp64	8	Local Longitude (rad)
10	39	fp64	8	Local Height (m)
11	47	fp32	4	Local Velocity north (m/s)
12	51	fp32	4	Local Velocity east (m/s)
13	55	fp32	4	Local Velocity down (m/s)
14	59	fp32	4	Local Roll (radians)
15	63	fp32	4	Local Pitch (radians)
16	67	fp32	4	Local Heading (radians)
17	71	fp32	4	Local Latitude standard deviation (m)
18	75	fp32	4	Local Longitude standard deviation (m)
19	79	fp32	4	Local Height standard deviation (m)
20	83	fp32	4	Local Roll standard deviation (rad)
21	87	fp32	4	Local Pitch standard deviation (rad)
22	91	fp32	4	Local Heading standard deviation (rad)
23	95	fp32	4	Local Depth (m)
24	99	u32	4	Remote Age in Microseconds, see Remote Age
25	103	fp32	4	Remote Range (m)
26	107	fp32	4	Remote Azimuth (rad)
27	111	fp32	4	Remote Elevation (rad)
28	115	fp32	4	Remote Position Raw X (m) (no correction)
29	119	fp32	4	Remote Position Raw Y (m) (no correction)
30	123	fp32	4	Remote Position Raw Z (m) (no correction)
31	127	fp32	4	Remote Position X (m) (roll pitch correction)
32	131	fp32	4	Remote Position Y (m) (roll pitch correction)
33	135	fp32	4	Remote Position Z (m) (roll pitch correction)
34	139	fp32	4	Remote North (m) (roll, pitch, heading correction)
35	143	fp32	4	Remote East (m) (roll, pitch, heading correction)
36	147	fp32	4	Remote Down (m) (roll, pitch, heading correction)
37	151	fp64	8	Remote Latitude (rad)
38	159	fp64	8	Remote Longitude (rad)
39	167	fp64	8	Remote Height (m)
40	175	fp32	4	Remote Range standard deviation (m)
41	179	fp32	4	Remote Azimuth standard deviation (rad)
42	183	fp32	4	Remote Elevation standard deviation (rad)
43	187	fp32	4	Remote Latitude standard deviation (m)
44	191	fp32	4	Remote Longitude standard deviation (m)
45	195	fp32	4	Remote Height standard deviation (m)
46	199	fp32	4	Remote Depth (m)
47	203	s8	1	Signal Level (dBV)
48	204	s8	1	Signal To Noise Ratio (SNR)
49	205	u8	1	Signal Correlation Ratio
50	206	u8	1	Signal Correlation Interference
51	207	u32	4	reserved

Remote Track Packet

Tracking Status

Bit	Description
0	Data Connection Active (Status, Velocity and Orientation Valid)
1	Depth correction applied
2-7	Reserved (set to zero)

Tracking Status

Data Valid Flags

Bit	Description
0	Local Time Valid
1	Local Position Valid
2	Local Velocity Valid
3	Local Orientation Valid
4	Local Position Standard Deviation Valid
5	Local Orientation Standard Deviation Valid
6	Local Depth Valid
7	Remote Age Valid
8	Remote Range Valid
9	Remote Azimuth Valid
10	Remote Elevation Valid
11	Remote Raw XYZ Valid
12	Remote Roll Pitch Corrected XYZ Valid
13	Remote NED Valid
14	Remote Geodetic Position Valid
15	Remote Range Standard Deviation Valid
16	Remote Azimuth Standard Deviation Valid
17	Remote Elevation Standard Deviation Valid
18	Remote Position Standard Deviation Valid
19	Remote Depth Valid
20	Signal Level Valid
21	Signal to Noise Ratio Valid
22	Signal Correlation Ratio Valid
23	Signal Correlation Interference Valid
24-31	Reserved

Track Packet Data Valid

Remote Age

Age is the difference in time from the Observer time-stamp to the track device transmit. This value will increase with range.