Acoustic Communication Messages

LBL Range

When the vehicle uses Long Base Line navigation, this message notifies that a new range was received from one of the acoustics transponders. The message fields are used to identify the range value and the transponder name.

  • Abbreviation: LblRange
  • Identification Number: 200
  • Payload Size: 5 bytes
  • Message Size: 27 bytes
  • Flags: periodic
Name Abbreviation Unit Type Description Range
Beacon Identification Number id - uint8_t Identification number of the acoustic transponder from which the range information was received. Same as field type
Range range m fp32_t Distance to the acoustic transponder. Same as field type

LBL Beacon Configuration

Position and configuration of an LBL transponder (beacon).

  • Abbreviation: LblBeacon
  • Identification Number: 202
  • Payload Size: 25+ bytes
  • Message Size: 47+ bytes
Name Abbreviation Unit Type Description Range
Beacon Name beacon - plaintext Name/Label of the acoustic transponder. 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
Depth depth m fp32_t The beacon’s depth. Same as field type
Interrogation channel query_channel - uint8_t Interrogation channel. Same as field type
Reply channel reply_channel - uint8_t Reply channel. Same as field type
Transponder delay transponder_delay ms uint8_t Transponder delay. Same as field type

LBL Configuration

Long Base Line configuration.

  • Abbreviation: LblConfig
  • Identification Number: 203
  • Payload Size: 3+ bytes
  • Message Size: 25+ bytes
Name Abbreviation Unit Type Description Range
Operation op Enumerated (Enum Operation) uint8_t Used to define the type of the operation this message holds. Same as field type
Beacons beacons - message-list (LBL Beacon Configuration) A list of LBL beacon configuration messages. Same as field type

Enum Operation

Used to define the type of the operation this message holds.

  • Abbreviation: op
  • Prefix: OP
Value Name Abbreviation Description
0 Set LBL Configuration SET_CFG Set the beacons configuration aboard the vehicle.
1 Retrieve LBL Configuration GET_CFG Request the vehicle to send its current beacons configuration.
2 Reply to a GET command CUR_CFG -

Acoustic Message

Send an acoustic message.

  • Abbreviation: AcousticMessage
  • Identification Number: 206
  • Payload Size: 2+ bytes
  • Message Size: 24+ bytes
Name Abbreviation Unit Type Description Range
Message to send message - message Message to send. Same as field type

Simulated Acoustic Message

Send an acoustic message.

  • Abbreviation: SimAcousticMessage
  • Identification Number: 207
  • Payload Size: 41+ bytes
  • Message Size: 63+ bytes
Name Abbreviation Unit Type Description Range
Latitude lat - fp64_t Absolute latitude of sending vehicle. Same as field type
Longitude lon - fp64_t Absolute longitude of sending vehicle. Same as field type
Depth depth - fp32_t Depth of sending vehicle. Same as field type
Sentence sentence - plaintext Sentence string sent/received by the modem Same as field type
Transmission Time txtime s fp64_t Transmission time. Same as field type
Modem Type modem_type - plaintext The modem being used. Same as field type
Source system sys_src - plaintext Name of source system. Same as field type
Sequence Id seq - uint16_t   Same as field type
Destination System sys_dst - plaintext   Same as field type
Flags flags Bitfield (Bitfield Flags) uint8_t   Same as field type
Data data - rawdata   Same as field type

Bitfield Flags

No description

  • Abbreviation: flags
  • Prefix: SAM
Value Name Abbreviation Description
0x01 Acknowledgement ACK -
0x02 Delayed DELAYED -
0x03 Reply REPLY -

Acoustic Operation

Acoustic operation.

  • Abbreviation: AcousticOperation
  • Identification Number: 211
  • Payload Size: 9+ bytes
  • Message Size: 31+ bytes
Name Abbreviation Unit Type Description Range
Operation op Enumerated (Enum Operation) uint8_t Operation type. Same as field type
System system - plaintext The meaning of this field depends on the operation and is explained in the operation’s description. Same as field type
Range range m fp32_t The meaning of this field depends on the operation and is explained in the operation’s description. Same as field type
Message To Send msg - message Argument for message send (‘MSG’) requests. Same as field type

Enum Operation

Operation type.

  • Abbreviation: op
  • Prefix: AOP
Value Name Abbreviation Description
0 Abort ABORT Send an abort through the acoustic channel to the system specified in the field ‘system’.
1 Abort in Progress ABORT_IP The latest abort request to the system specified in the field ‘system’ is in progress.
2 Abort Timeout ABORT_TIMEOUT The latest abort operation expired without acknowledgment from the system specified in the field ‘system’.
3 Abort Acknowledged ABORT_ACKED The latest abort operation was acknowledged by the system specified in the field ‘system’.
4 Range Request RANGE Request a range through the acoustic channel to the system specified in the field ‘system’.
5 Range in Progress RANGE_IP The latest range request to the system specified in the field ‘system’ is in progress.
6 Range Timeout RANGE_TIMEOUT The latest range request operation expired without reply from the system specified in the field ‘system’.
7 Range Received RANGE_RECVED The latest range request operation to the system specified in the field ‘system’ was successful and the range is specified in the field ‘range’.
8 Modem is Busy BUSY The acoustic modem is busy and cannot execute the requested operation.
9 Unsupported operation UNSUPPORTED The latest requested operation is not supported.
10 Transducer Not Detected NO_TXD The transducer was not detected.
11 Send Message MSG Request message over acoustic channel. The message to send is specified by the ‘msg’ field.
12 Message Send – Queued MSG_QUEUED Message send request has been queued.
13 Message Send – In progress MSG_IP Message send request is in progress.
14 Message Send – Done MSG_DONE Message send request has been fulfilled.
15 Message Send – Failure MSG_FAILURE Message send request could not be fulfilled.
16 Send Short Message MSG_SHORT Request message over acoustic channel. The message to send is specified by the ‘msg’ field.
17 Initiate Reverse Range REVERSE_RANGE Request sending updated position to remote system so it can be ranged.
18 Forced Abort FORCED_ABORT Send an abort through the acoustic channel to the system specified in the field ‘system’, ignoring safety checks such as “transducer not connected”.

Acoustic Systems Query

Request a list of known underwater acoustic systems. The recipient of this message shall reply with an AcousticSystems message.

  • Abbreviation: AcousticSystemsQuery
  • Identification Number: 212
  • Payload Size: 0 bytes
  • Message Size: 22 bytes

This message has no fields.

Acoustic Systems

This message is sent in reply to an AcousticSystemsQuery message and lists all known underwater acoustic systems (modems, narrow band transponders, etc).

  • Abbreviation: AcousticSystems
  • Identification Number: 213
  • Payload Size: 2+ bytes
  • Message Size: 24+ bytes
Name Abbreviation Unit Type Description Range
System List list List plaintext Comma separated list of known acoustic system names. Same as field type

Acoustic Transmission Request

Request Acoustic sending.

  • Abbreviation: AcousticRequest
  • Identification Number: 215
  • Payload Size: 19+ bytes
  • Message Size: 41+ bytes
Name Abbreviation Unit Type Description Range
Request Identifier req_id - uint16_t   Same as field type
Destination System destination - plaintext The name of the system where to send this message. Same as field type
Timeout timeout s fp64_t Period of time to send message (in seconds). Same as field type
Range range m fp32_t The meaning of this field depends on the operation and is explained in the operation’s description. Same as field type
Type type Enumerated (Enum Type) uint8_t   Same as field type
Message To Send msg - message Argument for message send (‘MSG’) or (‘RAW’) but in this case expects DevDataBinary message requests. Same as field type

Enum Type

No description

  • Abbreviation: type
  • Prefix: TYPE
Value Name Abbreviation Description
0 Abort ABORT -
1 Range RANGE -
2 Reverse Range REVERSE_RANGE -
3 Message MSG -
4 Raw RAW -

Acoustic Transmission Status

Reply sent in response to a Acoustic Text sending request.

  • Abbreviation: AcousticStatus
  • Identification Number: 216
  • Payload Size: 10+ bytes
  • Message Size: 32+ bytes
Name Abbreviation Unit Type Description Range
Request Identifier req_id - uint16_t   Same as field type
Type type Enumerated (Enum Type) uint8_t   Same as field type
Status status Enumerated (Enum Status) uint8_t   Same as field type
Information info - plaintext Status description. Same as field type
Range range m fp32_t The meaning of this field depends on the operation and is explained in the operation’s description. Same as field type

Enum Type

No description

  • Abbreviation: type
  • Prefix: TYPE
Value Name Abbreviation Description
0 Abort ABORT -
1 Range RANGE -
2 Reverse Range REVERSE_RANGE -
3 Message MSG -
4 Raw RAW -

Enum Status

No description

  • Abbreviation: status
  • Prefix: STATUS
Value Name Abbreviation Description
0 Queued QUEUED -
1 In Progress IN_PROGRESS -
2 Sent SENT -
3 Range Received RANGE_RECEIVED -
4 Delivered DELIVERED -
100 Busy BUSY -
101 Input Error INPUT_FAILURE -
102 Error trying to send acoustic text ERROR -
666 Message Type is not defined or is unsupported UNSUPPORTED -

UamTxFrame

This message shall be sent to acoustic modem drivers to request transmission of a data frame via the acoustic channel.

  • Abbreviation: UamTxFrame
  • Identification Number: 814
  • Payload Size: 7+ bytes
  • Message Size: 29+ bytes
Name Abbreviation Unit Type Description Range
Sequence Id seq - uint16_t A sequence identifier that should be incremented for each request. This number will then be used to issue transmission status updates via the message UamTxStatus. Same as field type
Destination System sys_dst - plaintext The canonical name of the destination system. If supported, the special destination ‘broadcast’ shall be used to dispatch messages to all nodes. Same as field type
Flags flags Bitfield (Bitfield Flags) uint8_t Transmission flags. Same as field type
Data data - rawdata The actual data frame to transmit. The data size shall not exceed the MTU of the acoustic modem. Same as field type

Bitfield Flags

Transmission flags.

  • Abbreviation: flags
  • Prefix: UTF
Value Name Abbreviation Description
0x01 Acknowledgement ACK On modems that support it, this flag shall be used to request an acknowledgment of reception from the receiving node.
0x02 Delayed DELAYED On modems that support it, this flag shall be used to delay the frame transmission until the modem needs to transmit control data (e.g., acknowledgment of reception, etc).
0x04 Forced FORCED Ignore safety checks such as “transducer not connected”.

UamRxFrame

This message shall be dispatched by acoustic modem drivers each time a data frame is received over the acoustic channel.

  • Abbreviation: UamRxFrame
  • Identification Number: 815
  • Payload Size: 7+ bytes
  • Message Size: 29+ bytes
Name Abbreviation Unit Type Description Range
Source System sys_src - plaintext The canonical name of the node that transmitted the data frame. If this name cannot be resolved the string ‘unknown’ shall be used. Same as field type
Destination System sys_dst - plaintext The canonical name of the destination node of the data frame. If this name cannot be resolved the string ‘unknown’ shall be used. Same as field type
Flags flags Bitfield (Bitfield Flags) uint8_t Reception flags. Same as field type
Data data - rawdata The actual received data frame. Same as field type

Bitfield Flags

Reception flags.

  • Abbreviation: flags
  • Prefix: URF
Value Name Abbreviation Description
0x01 Promiscuous PROMISCUOUS The data frame was transmitted to an acoustic modem other than the one the acoustic modem driver is controlling.
0x02 Delayed DELAYED The data frame was transmitted using the DELAYED flag.

UamTxStatus

This message shall be used by acoustic modem drivers to send updates on the transmission status of data frames.

  • Abbreviation: UamTxStatus
  • Identification Number: 816
  • Payload Size: 5+ bytes
  • Message Size: 27+ bytes
Name Abbreviation Unit Type Description Range
Sequence Id seq - uint16_t The sequence identifier of the frame transmission request. Same as field type
Value value Enumerated (Enum Value) uint8_t Frame transmission status. Same as field type
Error Message error - plaintext Where applicable this field shall contain a human-readable message explaining the error. Same as field type

Enum Value

Frame transmission status.

  • Abbreviation: value
  • Prefix: UTS
Value Name Abbreviation Description
0 Transmission Completed DONE The frame transmission was completed.
1 Transmission Failed FAILED The frame transmission failed. The reason for the failure is given in the field ‘error’.
2 Transmission Canceled CANCELED The frame transmission was canceled.
3 Modem is busy BUSY The acoustic modem driver is busy and could not honor the frame transmission request at the moment.
4 Invalid address INV_ADDR The canonical name of the destination node could not be resolved.
5 In Progress IP The frame transmission is in progress.
6 Unsupported operation UNSUPPORTED The frame transmission request is not valid for this acoustic modem driver.
7 Invalid transmission size INV_SIZE The frame transmission request exceeds the MTU of the acoustic modem.
8 Message has been sent SENT The message has been sent out.
9 Message has been acknowledged by the destination DELIVERED Message has been acknowledged by the destination.
10 No transducer NO_TRANSDUCER Transducer not connected to the acoustic modem.

UamRxRange

Acoustic range measurement.

  • Abbreviation: UamRxRange
  • Identification Number: 817
  • Payload Size: 8+ bytes
  • Message Size: 30+ bytes
Name Abbreviation Unit Type Description Range
Sequence Id seq - uint16_t The sequence identifier of the ranging request. Same as field type
System sys - plaintext The canonical name of the ranged system. Same as field type
Value value m fp32_t The actual range. Negative values denote invalid measurements. Same as field type

UamTxRange

Request an acoustic modem driver to measure the distance to another system.

  • Abbreviation: UamTxRange
  • Identification Number: 818
  • Payload Size: 8+ bytes
  • Message Size: 30+ bytes
Name Abbreviation Unit Type Description Range
Sequence Id seq - uint16_t A sequence identifier that should be incremented for each request. This number will then be used to issue transmission status updates via the message UamTxStatus. Same as field type
Destination System sys_dst - plaintext The canonical name of the target system. Same as field type
Timeout timeout s fp32_t Maximum amount of time to wait for a reply. Same as field type

USBL Angles

This message contains information, collected using USBL, about the bearing and elevation of a target.

  • Abbreviation: UsblAngles
  • Identification Number: 890
  • Payload Size: 10 bytes
  • Message Size: 32 bytes
Name Abbreviation Unit Type Description Range
Target target - uint16_t Target’s IMC address. Same as field type
Bearing bearing rad fp32_t Target’s bearing. Same as field type
Elevation elevation rad fp32_t Target’s elevation. Same as field type

USBL Position

This message contains information, collected using USBL, about a target’s position.

  • Abbreviation: UsblPosition
  • Identification Number: 891
  • Payload Size: 14 bytes
  • Message Size: 36 bytes
Name Abbreviation Unit Type Description Range
Target target - uint16_t Target’s IMC address. Same as field type
X x m fp32_t X coordinate of the target in the local device’s reference frame. Same as field type
Y y m fp32_t Y coordinate of the target in the local device’s reference frame. Same as field type
Z z m fp32_t Z coordinate of the target in the local device’s reference frame. Same as field type

USBL Fix

This message contains the WGS-84 position of a target computed using USBL.

  • Abbreviation: UsblFix
  • Identification Number: 892
  • Payload Size: 23 bytes
  • Message Size: 45 bytes
Name Abbreviation Unit Type Description Range
Target target - uint16_t Target’s IMC address. Same as field type
Latitude (WGS-84) lat rad fp64_t WGS-84 Latitude. min=-1.5707963267948966, max=1.5707963267948966
Longitude (WGS-84) lon rad fp64_t WGS-84 Longitude. min=-3.141592653589793, max=3.141592653589793
Z Units z_units Enumerated (Enum Z Units) uint8_t Units of the z reference. Same as field type
Z Reference z m fp32_t Target reference in the z axis. Use z_units to specify whether z represents depth, altitude or other. Same as field type

USBL Angles Extended

This message contains information, collected using USBL, about the bearing and elevation of a target.

  • Abbreviation: UsblAnglesExtended
  • Identification Number: 898
  • Payload Size: 34+ bytes
  • Message Size: 56+ bytes
Name Abbreviation Unit Type Description Range
Target target - plaintext Target’s system name. Same as field type
Local Bearing lbearing rad fp32_t Target’s bearing in the local device’s reference frame. Same as field type
Local Elevation lelevation rad fp32_t Target’s elevation in the local device’s reference frame. Same as field type
Bearing bearing rad fp32_t Target’s bearing in the navigation reference frame. Same as field type
Elevation elevation rad fp32_t Target’s elevation in the navigation reference frame. Same as field type
Roll Angle phi rad fp32_t Rotation around the device longitudinal axis. min=-3.141592653589793, max=3.141592653589793
Pitch Angle theta rad fp32_t Rotation around the device lateral or transverse axis. min=-1.57079632679490, max=1.57079632679490
Yaw Angle psi rad fp32_t Rotation around the device vertical axis. min=-3.141592653589793, max=3.141592653589793
Accuracy accuracy rad fp32_t Accuracy of the fix. min=0, max=3.141592653589793

USBL Position Extended

This message contains information, collected using USBL, about a target’s position.

  • Abbreviation: UsblPositionExtended
  • Identification Number: 899
  • Payload Size: 42+ bytes
  • Message Size: 64+ bytes
Name Abbreviation Unit Type Description Range
Target target - plaintext Target’s system name. Same as field type
X x m fp32_t X coordinate of the target in the local device’s reference frame. Same as field type
Y y m fp32_t Y coordinate of the target in the local device’s reference frame. Same as field type
Z z m fp32_t Z coordinate of the target in the local device’s reference frame. Same as field type
N n m fp32_t X coordinate of the target in the navigation reference frame. Same as field type
E e m fp32_t Y coordinate of the target in the navigation reference frame. Same as field type
D d m fp32_t Z coordinate of the target in the navigation reference frame. Same as field type
Roll Angle phi rad fp32_t Rotation around the device longitudinal axis. min=-3.141592653589793, max=3.141592653589793
Pitch Angle theta rad fp32_t Rotation around the device lateral or transverse axis. min=-1.57079632679490, max=1.57079632679490
Yaw Angle psi rad fp32_t Rotation around the device vertical axis. min=-3.141592653589793, max=3.141592653589793
Accuracy accuracy m fp32_t Accuracy of the position fix. min=0

USBL Fix Extended

This message contains the WGS-84 position of a target computed using USBL.

  • Abbreviation: UsblFixExtended
  • Identification Number: 900
  • Payload Size: 27+ bytes
  • Message Size: 49+ bytes
Name Abbreviation Unit Type Description Range
Target target - plaintext Target’s system name. Same as field type
Latitude (WGS-84) lat rad fp64_t WGS-84 Latitude. min=-1.5707963267948966, max=1.5707963267948966
Longitude (WGS-84) lon rad fp64_t WGS-84 Longitude. min=-3.141592653589793, max=3.141592653589793
Z Units z_units Enumerated (Enum Z Units) uint8_t Units of the z reference. Same as field type
Z Reference z m fp32_t Target reference in the z axis. Use z_units to specify whether z represents depth, altitude or other. Same as field type
Accuracy accuracy m fp32_t Accuracy of the position fix. min=0

USBL Modem Configuration

Position and configuration of an Ultra-Short Base Line modem.

  • Abbreviation: UsblModem
  • Identification Number: 901
  • Payload Size: 23+ bytes
  • Message Size: 45+ bytes
Name Abbreviation Unit Type Description Range
Modem Name name - plaintext Name/Label of the acoustic modem. 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
Z Reference z m fp32_t Target reference in the z axis. Use z_units to specify whether z represents depth, altitude or other. Same as field type
Z Units z_units Enumerated (Enum Z Units) uint8_t Units of the z reference. Same as field type

USBL Configuration

Ultra-Short Base Line configuration.

  • Abbreviation: UsblConfig
  • Identification Number: 902
  • Payload Size: 3+ bytes
  • Message Size: 25+ bytes
Name Abbreviation Unit Type Description Range
Operation op Enumerated (Enum Operation) uint8_t Used to define the type of the operation this message holds. Same as field type
Modems modems - message-list (USBL Modem Configuration) A list of USBL modem configuration messages. Same as field type

Enum Operation

Used to define the type of the operation this message holds.

  • Abbreviation: op
  • Prefix: OP
Value Name Abbreviation Description
0 Set LBL Configuration SET_CFG Set the beacons configuration aboard the vehicle.
1 Retrieve LBL Configuration GET_CFG Request the vehicle to send its current beacons configuration.
2 Reply to a GET command CUR_CFG -