System State Packet

System State Packet
Packet ID				20
Length				116
Read / Write				Read
Field #	Bytes Offset	Data Type	Size	Description
1	0	u32	4	System Status
2	4	u32	4	Filter Status
3	8	u32	4	Unix Time Seconds
4	12	u32	4	Microseconds
5	20	fp64	8	Latitude (rad)
6	28	fp64	8	Longitude (rad)
7	36	fp64	8	Height (m)
8	40	fp32	4	Velocity north (m/s)
9	44	fp32	4	Velocity east (m/s)
10	48	fp32	4	Velocity down (m/s)
11	52	fp32	4	Body acceleration X (m/s/s)
12	56	fp32	4	Body acceleration Y (m/s/s)
13	60	fp32	4	Body acceleration Z (m/s/s)
14	64	fp32	4	G force (g)
15	68	fp32	4	Roll (radians)
16	72	fp32	4	Pitch (radians)
17	76	fp32	4	Heading (radians)
18	80	fp32	4	Angular velocity X (rad/s)
19	84	fp32	4	Angular velocity Y (rad/s)
20	88	fp32	4	Angular velocity Z (rad/s)
21	92	fp32	4	Latitude standard deviation (m)
22	96	fp32	4	Longitude standard deviation (m)
23	100	fp32	4	Height standard deviation (m)
24	104	fp32	4	Roll Standard Deviation (rad)
25	108	fp32	4	Pitch Standard Deviation (rad)
26	112	fp32	4	Heading Standard Deviation (rad)

System State Packet

System Status

This field contains 16 bits that indicate problems with the system. These are boolean fields with a zero indicating false and one indicating true.

Bit	Description
0	System Failure
1	Accelerometer Sensor Failure
2	Gyroscope Sensor Failure
3	Magnetometer Sensor Failure
4	Pressure Sensor Failure
5	GNSS Failure
6	Accelerometer Over Range
7	Gyroscope Over Range
8	Magnetometer Over Range
9	Pressure Over Range
10	Minimum Temperature Alarm
11	Out of Water Alarm
12	Pressure Depth Offset Alarm
13	Logging Memory Failure
14	Filter Aiding Communication Failure
15	Fixed Position with GNSS Aiding Alarm
16	Fixed Position with Acoustic Aiding Alarm
17	Multiple Aiding Sources Alarm
18	Aided External INS Alarm
19	Aiding GNSS Time Sync Alarm
20	Multiple Master Alarm
21	Modem Data Disabled Alarm
22	Brownout Alarm
23	Aiding Alignment Alarm
24-31	Reserved

System Status

Filter Status

This field contains 16 bits that indicate the status of the filters. These are boolean fields with a zero indicating false and one indicating true.

Bit	Description
0	Orientation Filter Initialised
1	Navigation Filter Initialised
2	Heading Initialised
3	UTC Time Initialised
4	GNSS Fix Status
5
6
7	Acoustic Heading Active
8	Acoustic Position Active
9	Internal GNSS Enabled
10	Magnetic Heading Active
11	Velocity Heading Enabled
12	Pressure Depth Position Active
13	External Position Active
14	External Velocity Active
15	External Heading Active
16	Dual Antenna Heading Active
17	Fixed Position Active
18	Fixed Heading Active
19	Fixed Roll/Pitch Active
20	Pressure Depth Height Active
21	External GNSS Enabled
22	Pressure Depth Initialised
23	Internal VOS Initialised
24	USBL Tracking Active
25-31	Reserved

Filter Status

GNSS Fix Status

Value	Bit 6	Bit 5	Bit 4	Description
0	0	0	0	No GNSS fix
1	0	0	1	2D GNSS fix
2	0	1	0	3D GNSS fix
3	0	1	1	SBAS GNSS fix
4	1	0	0	Differential GNSS fix
5	1	0	1	PPP GNSS fix
6	1	1	0	RTK Float GNSS fix
7	1	1	1	RTK Fixed GNSS fix

GNSS Fix Status

Unix Time Seconds

This field provides the Unix time in seconds, using the standard epoch of January 1, 1970.

Microseconds

This field provides the sub-second component of time. It is represented as microseconds since the last second. Minimum value is 0 and maximum value is 999999.