Sensors Messages

Revolutions Per Minute

Number of revolutions per minute.

• Abbreviation: Rpm
• Identification Number: 250
• Payload Size: 2 bytes
• Message Size: 24 bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	rpm	int16_t	Number of revolutions per minute.	Same as field type

Voltage

Report of electrical voltage.

• Abbreviation: Voltage
• Identification Number: 251
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Voltage Value	value	V	fp32_t	The value of the internal electrical voltage as measured by the sensor.	Same as field type

Current

Report of electrical current.

• Abbreviation: Current
• Identification Number: 252
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Current Value	value	A	fp32_t	The value of the internal electrical current as measured by the sensor.	Same as field type

GPS Fix

Report of a GPS fix.

• Abbreviation: GpsFix
• Identification Number: 253
• Payload Size: 56 bytes
• Message Size: 78 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Validity	validity	Bitfield (Bitfield Validity)	uint16_t	Validity of fields.	Same as field type
Type	type	Enumerated (Enum Type)	uint8_t	Type of fix.	Same as field type
UTC Year	utc_year	-	uint16_t	UTC year.	Same as field type
UTC Month	utc_month	-	uint8_t	UTC month.	Same as field type
UTC Day	utc_day	-	uint8_t	UTC day.	Same as field type
UTC Time of Fix	utc_time	s	fp32_t	UTC time of the GPS fix measured in seconds since 00:00:00 (midnight).	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
Height above WGS-84 ellipsoid	height	m	fp32_t	Height above WGS-84 ellipsoid.	Same as field type
Number of Satellites	satellites	-	uint8_t	Number of satellites used by the GPS device to compute the solution.	Same as field type
Course Over Ground	cog	rad	fp32_t	Course Over Ground (true).	Same as field type
Speed Over Ground	sog	m/s	fp32_t	Speed Over Ground.	Same as field type
Horizontal Dilution of Precision	hdop	-	fp32_t	Horizontal dilution of precision.	Same as field type
Vertical Dilution of Precision	vdop	-	fp32_t	Vertical dilution of precision.	Same as field type
Horizontal Accuracy Estimate	hacc	m	fp32_t	Horizontal Accuracy Estimate.	Same as field type
Vertical Accuracy Estimate	vacc	m	fp32_t	Vertical Accuracy Estimate.	Same as field type

Bitfield Validity

Validity of fields.

• Abbreviation: validity
• Prefix: GFV

Value	Name	Abbreviation	Description
0x0001	Valid Date	VALID_DATE	Fields ‘utc_year’, ‘utc_month’ and ‘utc_day’ are valid.
0x0002	Valid Time	VALID_TIME	Field ‘utc_time’ is valid.
0x0004	Valid Position	VALID_POS	Fields ‘lat’, ‘lon’, ‘altitude’ and ‘satellites’ are valid.
0x0008	Valid Course Over Ground	VALID_COG	Field ‘cog’ is valid.
0x0010	Valid Speed Over Ground	VALID_SOG	Field ‘sog’ is valid.
0x0020	Valid Horizontal Accuracy Estimate	VALID_HACC	Field ‘hacc’ is valid.
0x0040	Valid Vertical Accuracy Estimate	VALID_VACC	Field ‘vacc’ is valid.
0x0080	Valid Horizontal Dilution of Precision	VALID_HDOP	Field ‘hdop’ is valid.
0x0100	Valid Vertical Dilution of Precision	VALID_VDOP	Field ‘vdop’ is valid.

Enum Type

Type of fix.

• Abbreviation: type
• Prefix: GFT

Value	Name	Abbreviation	Description
0x00	Stand Alone	STANDALONE	Stand alone solution.
0x01	Differential	DIFFERENTIAL	Differential solution.
0x02	Dead Reckoning	DEAD_RECKONING	Dead reckoning solution.
0x03	Manual Input	MANUAL_INPUT	Manual solution.
0x04	Simulation	SIMULATION	Simulated solution.

Euler Angles

Report of spatial orientation according to SNAME’s notation (1950).

• Abbreviation: EulerAngles
• Identification Number: 254
• Payload Size: 40 bytes
• Message Size: 62 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
Roll Angle	phi	rad	fp64_t	Rotation around the vehicle longitudinal axis.	min=-3.141592653589793, max=3.141592653589793
Pitch Angle	theta	rad	fp64_t	Rotation around the vehicle lateral or transverse axis.	min=-1.57079632679490, max=1.57079632679490
Yaw Angle (True)	psi	rad	fp64_t	Rotation around the vehicle vertical axis. A value of 0 means the vehicle is oriented towards true north. In cases where the sensor cannot measure the true heading, this field will have the same value as Yaw (Magnetic).	min=-3.141592653589793, max=3.141592653589793
Yaw Angle (Magnetic)	psi_magnetic	rad	fp64_t	Rotation around the vehicle vertical axis. A value of 0 means the vehicle is oriented towards magnetic north. In cases where the sensor cannot measure the magnetic heading, this field will have the same value as Yaw (True).	min=-3.141592653589793, max=3.141592653589793

Euler Angles Delta

Component of incremetal orientation vector over a period of time.

• Abbreviation: EulerAnglesDelta
• Identification Number: 255
• Payload Size: 36 bytes
• Message Size: 58 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	rad	fp64_t	X component.	Same as field type
Y	y	rad	fp64_t	Y component.	Same as field type
Z	z	rad	fp64_t	Z component.	Same as field type
Timestep	timestep	s	fp32_t	Period of time of the orientation vector increments.	Same as field type

Angular Velocity

Vector quantifying the direction and magnitude of the measured angular velocity that a device is exposed to.

• Abbreviation: AngularVelocity
• Identification Number: 256
• Payload Size: 32 bytes
• Message Size: 54 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	rad/s	fp64_t	X component.	Same as field type
Y	y	rad/s	fp64_t	Y component.	Same as field type
Z	z	rad/s	fp64_t	Z component.	Same as field type

Acceleration

Vector quantifying the direction and magnitude of the measured acceleration that a device is exposed to.

• Abbreviation: Acceleration
• Identification Number: 257
• Payload Size: 32 bytes
• Message Size: 54 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	m/s/s	fp64_t	X component.	Same as field type
Y	y	m/s/s	fp64_t	Y component.	Same as field type
Z	z	m/s/s	fp64_t	Z component.	Same as field type

Magnetic Field

Vector quantifying the direction and magnitude of the measured magnetic field that a device is exposed to.

• Abbreviation: MagneticField
• Identification Number: 258
• Payload Size: 32 bytes
• Message Size: 54 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	G	fp64_t	X component.	Same as field type
Y	y	G	fp64_t	Y component.	Same as field type
Z	z	G	fp64_t	Z component.	Same as field type

Ground Velocity

Vector quantifying the direction and magnitude of the measured velocity relative to the ground that a device is exposed to.

• Abbreviation: GroundVelocity
• Identification Number: 259
• Payload Size: 25 bytes
• Message Size: 47 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Validity	validity	Bitfield (Bitfield Validity)	uint8_t	Each bit of this field represents if a given velocity component is valid.	Same as field type
X	x	m/s	fp64_t	X component.	Same as field type
Y	y	m/s	fp64_t	Y component.	Same as field type
Z	z	m/s	fp64_t	Z component.	Same as field type

Bitfield Validity

Each bit of this field represents if a given velocity component is valid.

• Abbreviation: validity
• Prefix: VAL

Value	Name	Abbreviation	Description
0x01	X component is valid	VEL_X	-
0x02	Y component is valid	VEL_Y	-
0x04	Z component is valid	VEL_Z	-

Water Velocity

Vector quantifying the direction and magnitude of the measured velocity relative to the water that a device is exposed to.

• Abbreviation: WaterVelocity
• Identification Number: 260
• Payload Size: 25 bytes
• Message Size: 47 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Validity	validity	Bitfield (Bitfield Validity)	uint8_t	Each bit of this field represents if a given velocity component is valid.	Same as field type
X	x	m/s	fp64_t	X component.	Same as field type
Y	y	m/s	fp64_t	Y component.	Same as field type
Z	z	m/s	fp64_t	Z component.	Same as field type

Bitfield Validity

Each bit of this field represents if a given velocity component is valid.

• Abbreviation: validity
• Prefix: VAL

Value	Name	Abbreviation	Description
0x01	X component is valid	VEL_X	-
0x02	Y component is valid	VEL_Y	-
0x04	Z component is valid	VEL_Z	-

Velocity Delta

Component of incremetal velocity vector.

• Abbreviation: VelocityDelta
• Identification Number: 261
• Payload Size: 32 bytes
• Message Size: 54 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	m/s	fp64_t	X component.	Same as field type
Y	y	m/s	fp64_t	Y component.	Same as field type
Z	z	m/s	fp64_t	Z component.	Same as field type

Distance

Distance measurement detected by the device.

• Abbreviation: Distance
• Identification Number: 262
• Payload Size: 9+ bytes
• Message Size: 31+ bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Validity	validity	Enumerated (Enum Validity)	uint8_t	Validity of the measurement.	Same as field type
Location	location	-	message-list (Device State)	Device Location in the system.	Same as field type
Beam Configuration	beam_config	-	message-list (Beam Configuration)	Beam configuration of the device.	Same as field type
Measured Distance	value	m	fp32_t	Measured distance.	Same as field type

Enum Validity

Validity of the measurement.

• Abbreviation: validity
• Prefix: DV

Value	Name	Abbreviation	Description
0	Invalid	INVALID	Measurement is invalid.
1	Valid	VALID	Measurement is valid.

Temperature

Report of temperature.

• Abbreviation: Temperature
• Identification Number: 263
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Temperature	value	°C	fp32_t	The value of the temperature as measured by the sensor.	Same as field type

Pressure

Report of external pressure.

• Abbreviation: Pressure
• Identification Number: 264
• Payload Size: 8 bytes
• Message Size: 30 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Pressure	value	hPa	fp64_t	The value of the pressure as measured by the sensor.	Same as field type

Depth

Depth report.

• Abbreviation: Depth
• Identification Number: 265
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Depth	value	m	fp32_t	Depth value measured by a sensor.	Same as field type

Depth Offset

Report of Depth Offset.

• Abbreviation: DepthOffset
• Identification Number: 266
• Payload Size: 4 bytes
• Message Size: 26 bytes

Name	Abbreviation	Unit	Type	Description	Range
Measured Offset	value	m	fp32_t	Depth offset.	Same as field type

Sound Speed

Sound Speed report.

• Abbreviation: SoundSpeed
• Identification Number: 267
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Computed Sound Speed	value	m/s	fp32_t	Estimated sound speed. Negative values denote invalid estimates.	Same as field type

Water Density

Water Density report.

• Abbreviation: WaterDensity
• Identification Number: 268
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Computed Water Density	value	kg/m/m/m	fp32_t	Computed Water Density.	Same as field type

Conductivity

Report of conductivity.

• Abbreviation: Conductivity
• Identification Number: 269
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Conductivity	value	S/m	fp32_t	The value of the conductivity as measured by the sensor.	Same as field type

Salinity

Report of salinity.

• Abbreviation: Salinity
• Identification Number: 270
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Salinity	value	PSU	fp32_t	The value of the salinity as measured by the sensor.	Same as field type

Wind Speed

Measurement of relative wind speed. (Meaning without correcting for vehicle effects).

• Abbreviation: WindSpeed
• Identification Number: 271
• Payload Size: 12 bytes
• Message Size: 34 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Direction	direction	rad	fp32_t	Direction of the measured wind speed.	Same as field type
Speed	speed	m/s	fp32_t	The value of the wind speed as measured by the sensor.	Same as field type
Turbulence	turbulence	m/s	fp32_t	Wind turbulence intensity.	Same as field type

Relative Humidity

Measurement of relative humidity.

• Abbreviation: RelativeHumidity
• Identification Number: 272
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Relative Humidity Value	value	-	fp32_t	Value of relative humidity.	min=0, max=100

Device Data (Text)

Verbatim representation of device data in plain text format.

• Abbreviation: DevDataText
• Identification Number: 273
• Payload Size: 2+ bytes
• Message Size: 24+ bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	-	plaintext	Plain text data as extracted directly from the device.	Same as field type

Device Data (Binary)

Verbatim representation of device data in binary format.

• Abbreviation: DevDataBinary
• Identification Number: 274
• Payload Size: 2+ bytes
• Message Size: 24+ bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	-	rawdata	Raw binary data as extracted directly from the device.	Same as field type

Force

Force measurement.

• Abbreviation: Force
• Identification Number: 275
• Payload Size: 4 bytes
• Message Size: 26 bytes

Name	Abbreviation	Unit	Type	Description	Range
Measured Force	value	N	fp32_t	Force magnitude.	Same as field type

Sonar Data

This message contains the data acquired by a single sonar measurement. The following describes the format used to fill the data field used in this message. (Byte order is little endian.)

Sidescan:

Data	Name	Type
A	Ranges data	uintX_t

• The type uintX_t will depend on the number of bits per unit, and it should be a multiple of 8.
• Furthermore, for now, 32 bits is the highest value of bits per unit supported.

Multibeam:

Index	Section	Name	Type	Comments
1	H1	Number of points	uint16_t	Number of data points
2	H2	Start angle	fp32_t	In radians
3	H3	Flags	uint8_t	Refer to next table
4	H4 ?	Angle scale factor	fp32_t	Used for angle steps in radians
5	H5 ?	Intensities scale factor	fp32_t
6	D1 ?	Angle steps[H1]	uint16_t	Values in radians
7	D2	Ranges[H1]	uintX_t	Ranges data points (scale factor from common field “Scaling Factor”)
8	D3 ?	Intensities[H1]	uintX_t	Intensities data points

Section	Flag Label	Bit
H3.1	Intensities flag	0
H3.2	Angle step flag	1

Notes:

• Each angle at step i can be calculated is defined by:

angle[i] = H2_start_angle + (32-bit sum of D1_angle_step[0] through D1_angle_step[i]) * H4_scaling_factor

• If bit H3.1 is not set then sections H5 and D3 won’t exist.
• If bit H3.2 is not set then sections H4 and D1 won’t exist. In case this bit is set, then the angle steps is read from field “Beam Width” from “Beam Configuration”.
• The type uintX_t will depend on the number of bits per unit, and it should be a multiple of 8.
• Furthermore, for now, 32 bits is the highest value of bits per unit supported.

How to write ranges and intensities data:

data_unit = (Integer) (data_value / scale_factor);
bytes_per_unit = bits_per_unit / 8;
LOOP: i = 0, until i = bytes_per_unit
    byte[i] = (data_unit >> 8 * i) & 0xFF);

write(byte);

Common:

• Abbreviation: SonarData
• Identification Number: 276
• Payload Size: 18+ bytes
• Message Size: 40+ bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Type	type	Enumerated (Enum Type)	uint8_t	Type of sonar.	Same as field type
Frequency	frequency	Hz	uint32_t	Operating frequency.	Same as field type
Minimum Range	min_range	m	uint16_t	Minimum range.	Same as field type
Maximum Range	max_range	m	uint16_t	Maximum range.	Same as field type
Bits Per Data Point	bits_per_point	bit	uint8_t	Size of the data unit. (Should be multiple of 8)	Same as field type
Scaling Factor	scale_factor	-	fp32_t	Scaling factor used to multiply each data unit to restore the original floating point value.	Same as field type
Beam Configuration	beam_config	-	message-list (Beam Configuration)	Beam configuration of the device.	Same as field type
Data	data	-	rawdata	Data acquired by the measurement.	Same as field type

Enum Type

Type of sonar.

• Abbreviation: type
• Prefix: ST

Value	Name	Abbreviation	Description
0	Sidescan	SIDESCAN	-
1	Echo Sounder	ECHOSOUNDER	-
2	Multibeam	MULTIBEAM	-
3	Pencil Beam	PENCILBEAM	-

Pulse

Hardware pulse detection.

• Abbreviation: Pulse
• Identification Number: 277
• Payload Size: 0 bytes
• Message Size: 22 bytes
• Flags: periodic

This message has no fields.

Pulse Detection Control

Control of hardware pulse detection.

• Abbreviation: PulseDetectionControl
• Identification Number: 278
• Payload Size: 1 bytes
• Message Size: 23 bytes

Name	Abbreviation	Unit	Type	Description	Range
Operation	op	Enumerated (Enum Operation)	uint8_t	Activate or deactivate hardware pulse detection.	Same as field type

Enum Operation

Activate or deactivate hardware pulse detection.

• Abbreviation: op
• Prefix: POP

Value	Name	Abbreviation	Description
0	Pulse Detection OFF	OFF	-
1	Pulse Detection ON	ON	-

Fuel Level

Report of fuel level.

• Abbreviation: FuelLevel
• Identification Number: 279
• Payload Size: 10+ bytes
• Message Size: 32+ bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	%	fp32_t	Fuel level percentage of the system.	min=0, max=100
Confidence Level	confidence	%	fp32_t	Percentage level of confidence in the estimation of the amount of energy in the batteries.	min=0, max=100
Operation Modes	opmodes	TupleList	plaintext	Operation mode name and the estimated time available in that mode in hours. Example: “Motion=1.5”	Same as field type

GPS Navigation Data

Report of GPS navigation data.

• Abbreviation: GpsNavData
• Identification Number: 280
• Payload Size: 68 bytes
• Message Size: 90 bytes

Name	Abbreviation	Unit	Type	Description	Range
GPS Millisecond Time of Week	itow	ms	uint32_t	GPS Millisecond Time of Week.	Same as field type
Latitude	lat	rad	fp64_t	Latitude.	Same as field type
Longitude	lon	rad	fp64_t	Longitude.	Same as field type
Height above ellipsoid	height_ell	m	fp32_t	Height Above Ellipsoid.	Same as field type
Height above sea level	height_sea	m	fp32_t	Height Above Sea Level.	Same as field type
Horizontal Accuracy Estimate	hacc	m	fp32_t	Horizontal Accuracy Estimate.	Same as field type
Vertical Accuracy Estimate	vacc	m	fp32_t	Vertical Accuracy Estimate.	Same as field type
NED North Velocity	vel_n	m/s	fp32_t	NED North Velocity.	Same as field type
NED East Velocity	vel_e	m/s	fp32_t	NED East Velocity.	Same as field type
NED Down Velocity	vel_d	m/s	fp32_t	NED Down Velocity.	Same as field type
Speed (3D)	speed	m/s	fp32_t	NED Down Velocity.	Same as field type
Ground Speed (2D)	gspeed	m/s	fp32_t	NED Down Velocity.	Same as field type
Heading (2D)	heading	rad	fp32_t	NED Down Velocity.	Same as field type
Speed Accuracy Estimate	sacc	m/s	fp32_t	NED Down Velocity.	Same as field type
Course / Heading Accuracy Estimate	cacc	rad	fp32_t	Course / Heading Accuracy Estimate.	Same as field type

Servo Position

Actual position of a servo.

• Abbreviation: ServoPosition
• Identification Number: 281
• Payload Size: 5 bytes
• Message Size: 27 bytes

Name	Abbreviation	Unit	Type	Description	Range
Identifier	id	-	uint8_t	Servo identifier.	Same as field type
Position	value	rad	fp32_t	Value of the servo position.	min=-1.5707963267948966, max=1.5707963267948966

Device State

Location of a specific device in the system’s body frame.

• Abbreviation: DeviceState
• Identification Number: 282
• Payload Size: 24 bytes
• Message Size: 46 bytes

Name	Abbreviation	Unit	Type	Description	Range
Device Position - X	x	m	fp32_t	Device’s position over the X axis.	Same as field type
Device Position - Y	y	m	fp32_t	Device’s position over the Y axis.	Same as field type
Device Position - Z	z	m	fp32_t	Device’s position over the Z axis.	Same as field type
Device Rotation - X	phi	rad	fp32_t	Device’s rotation over the X axis.	Same as field type
Device Rotation - Y	theta	rad	fp32_t	Device’s rotation over the Y axis.	Same as field type
Device Rotation - Z	psi	rad	fp32_t	Device’s rotation over the Z axis.	Same as field type

Beam Configuration

Beam configuration of the device.

• Abbreviation: BeamConfig
• Identification Number: 283
• Payload Size: 8 bytes
• Message Size: 30 bytes

Name	Abbreviation	Unit	Type	Description	Range
Beam Width	beam_width	rad	fp32_t	Beam width of the instrument. A negative number denotes that this information is not available or is not applicable.	min=0, max=3.141592653589793
Beam Height	beam_height	rad	fp32_t	Beam height of the instrument. A negative number denotes that this information is not available or is not applicable.	min=0, max=3.141592653589793

Data Sanity

Report sanity or lack of it in the data output by a sensor.

• Abbreviation: DataSanity
• Identification Number: 284
• Payload Size: 1 bytes
• Message Size: 23 bytes

Name	Abbreviation	Unit	Type	Description	Range
Sanity	sane	Enumerated (Enum Sanity)	uint8_t	Whether the data is sane or not sane.	Same as field type

Enum Sanity

Whether the data is sane or not sane.

• Abbreviation: sane
• Prefix: DS

Value	Name	Abbreviation	Description
0	Sane	SANE	Data is sane.
1	Not Sane	NOT_SANE	Data is not sane.

Rhodamine Dye

Rhodamine Dye measurement.

• Abbreviation: RhodamineDye
• Identification Number: 285
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Amount of rhodamine dye detected.	Same as field type

Crude Oil

Crude oil measurement.

• Abbreviation: CrudeOil
• Identification Number: 286
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Amount of crude oil detected.	Same as field type

Fine Oil

Fine oil measurement.

• Abbreviation: FineOil
• Identification Number: 287
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Amount of fine oil detected.	Same as field type

Turbidity

Turbidity measurement.

• Abbreviation: Turbidity
• Identification Number: 288
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	NTU	fp32_t	Turbidity reading.	Same as field type

Chlorophyll

Chlorophyll measurement.

• Abbreviation: Chlorophyll
• Identification Number: 289
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	µg/L	fp32_t	Chlorophyll reading.	Same as field type

Fluorescein

Fluorescein measurement.

• Abbreviation: Fluorescein
• Identification Number: 290
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Fluorescein reading.	Same as field type

Phycocyanin

Phycocyanin measurement.

• Abbreviation: Phycocyanin
• Identification Number: 291
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Phycocyanin reading.	Same as field type

Phycoerythrin

Phycoerythrin measurement.

• Abbreviation: Phycoerythrin
• Identification Number: 292
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Phycoerythrin reading.	Same as field type

GPS Fix RTK

Report of an RTK-GPS fix.

• Abbreviation: GpsFixRtk
• Identification Number: 293
• Payload Size: 58 bytes
• Message Size: 80 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Validity	validity	Bitfield (Bitfield Validity)	uint16_t	Validity of fields.	Same as field type
Type	type	Enumerated (Enum Type)	uint8_t	Type of fix.	Same as field type
GPS Time of Week	tow	-	uint32_t	GPS Time of Week.	Same as field type
Base Latitude WGS-84	base_lat	rad	fp64_t	WGS-84 Latitude coordinate of the base.	min=-1.5707963267948966, max=1.5707963267948966
Base Longitude WGS-84	base_lon	rad	fp64_t	WGS-84 Longitude coordinate of the base.	min=-3.141592653589793, max=3.141592653589793
Base Height above WGS-84 ellipsoid	base_height	m	fp32_t	Height above WGS-84 ellipsoid of the base.	Same as field type
Position North	n	m	fp32_t	Baseline North coordinate.	Same as field type
Position East	e	m	fp32_t	Baseline East coordinate.	Same as field type
Position Down	d	m	fp32_t	Baseline Down coordinate.	Same as field type
Velocity North	v_n	m/s	fp32_t	Velocity North coordinate.	Same as field type
Velocity East	v_e	m/s	fp32_t	Velocity East coordinate.	Same as field type
Velocity Down	v_d	m/s	fp32_t	Velocity Down coordinate.	Same as field type
Number of Satellites	satellites	-	uint8_t	Number of satellites used in solution.	Same as field type
IAR Hypotheses	iar_hyp	-	uint16_t	Number of hypotheses in the Integer Ambiguity Resolution (smaller is better).	Same as field type
IAR Ratio	iar_ratio	-	fp32_t	Quality ratio of Integer Ambiguity Resolution (bigger is better).	Same as field type

Bitfield Validity

Validity of fields.

• Abbreviation: validity
• Prefix: RFV

Value	Name	Abbreviation	Description
0x0001	Valid Time	VALID_TIME	Field ‘tow’ is valid.
0x0002	Valid Base LLH	VALID_BASE	Fields ‘base_lat’, ‘base_lon’ and ‘base_height’ are valid.
0x0004	Valid Position	VALID_POS	Fields ‘n’, ‘e’, ‘d’ are valid.
0x0008	Valid Velocity	VALID_VEL	Fields ‘v_n’, ‘v_e’, ‘v_d’ are valid.

Enum Type

Type of fix.

• Abbreviation: type
• Prefix: RTK

Value	Name	Abbreviation	Description
0x00	None	NONE	No solution, but RTK task is running.
0x01	Obs	OBS	No solution, but receiving observations.
0x02	Float	FLOAT	Floating point solution of IAR.
0x03	Fixed	FIXED	Fixed (single) solution of IAR.

External Navigation Data

This message is a representation of the state of the vehicle, as seen by an external navigation computer.

An example usage is when DUNE is used with ardupilot. The data gathered from the autopilot is a complete navigation solution.

ExternalNavData contains an inline Estimated State, which is a complete description of the system in terms of parameters such as position, orientation and velocities at a particular moment in time.

The Type field selects wether the navigation data is a full state estimation, or only concerns attitude or position/velocity.

• Abbreviation: ExternalNavData
• Identification Number: 294
• Payload Size: 91 bytes
• Message Size: 113 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Estimated State	state	-	message (Estimated State)	External Navigation Data.	Same as field type
Nav Data Type	type	Enumerated (Enum Nav Data Type)	uint8_t	The type of external navigation data	Same as field type

Enum Nav Data Type

The type of external navigation data

• Abbreviation: type
• Prefix: EXTNAV

Value	Name	Abbreviation	Description
0	Full State	FULL	-
1	Attitude Heading Reference System Only	AHRS	-
2	Position Reference System only	POSREF	-

Dissolved Oxygen

Dissolved Oxygen measurement.

• Abbreviation: DissolvedOxygen
• Identification Number: 295
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	µM	fp32_t	Dissolved Oxygen reading.	Same as field type

Air Saturation

Air Saturation measurement.

• Abbreviation: AirSaturation
• Identification Number: 296
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	%	fp32_t	Air Saturation reading.	Same as field type

Throttle

Throttle e.g. for Plane/Copter .

• Abbreviation: Throttle
• Identification Number: 297
• Payload Size: 8 bytes
• Message Size: 30 bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	%	fp64_t	The value of the desired throttle.	Same as field type

pH

Report of pH.

• Abbreviation: PH
• Identification Number: 298
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	-	fp32_t	The value of the pH as measured by the sensor.	Same as field type

Redox Potential

Report of Redox Potential.

• Abbreviation: Redox
• Identification Number: 299
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	V	fp32_t	The value of the Redox as measured by the sensor.	Same as field type

Power

Report of electrical power.

• Abbreviation: Power
• Identification Number: 364
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Measured Power Value	value	W	fp32_t	The value of the internal electrical power as measured by the sensor.	Same as field type

Dissolved Organic Matter

Dissolved Organic Matter measurement.

• Abbreviation: DissolvedOrganicMatter
• Identification Number: 903
• Payload Size: 5 bytes
• Message Size: 27 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Dissolved Organic Matter reading.	Same as field type
Type of measurement	type	Enumerated (Enum Type of measurement)	uint8_t	Type of measurement.	Same as field type

Enum Type of measurement

Type of measurement.

• Abbreviation: type
• Prefix: DT

Value	Name	Abbreviation	Description
0	Colored	COLORED	-
1	Fluorescent	FLUORESCENT	-

Optical Backscattering Coefficient

The optical backscattering coefficient refers to all the photons that have been redirected in the backward directions when a photon of light propagates in water and interacts with a “particle” (varying from water molecules to fish).

• Abbreviation: OpticalBackscatter
• Identification Number: 904
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	1/m	fp32_t	Optical Backscattering Coefficient.	Same as field type

SADC Readings

Readings from SADC board.

• Abbreviation: SadcReadings
• Identification Number: 907
• Payload Size: 6 bytes
• Message Size: 28 bytes

Name	Abbreviation	Unit	Type	Description	Range
Channel	channel	-	int8_t	Channel of SADC to read.	min=1, max=4
Value	value	-	int32_t	Value raw of sadc channel.	Same as field type
Gain	gain	Enumerated (Enum Gain)	uint8_t	Gain value of readings.	Same as field type

Enum Gain

Gain value of readings.

• Abbreviation: gain
• Prefix: GAIN

Value	Name	Abbreviation	Description
0	x1	X1	-
1	x10	X10	-
2	x100	X100	-

DMS Detection

Presence of DMS (Dimethyl Sulphide). If the value of the channel is greater than zero, it means DMS was detected.

• Abbreviation: DmsDetection
• Identification Number: 908
• Payload Size: 64 bytes
• Message Size: 86 bytes

Name	Abbreviation	Unit	Type	Description	Range
Channel 1	ch01	-	fp32_t		Same as field type
Channel 2	ch02	-	fp32_t		Same as field type
Channel 3	ch03	-	fp32_t		Same as field type
Channel 4	ch04	-	fp32_t		Same as field type
Channel 5	ch05	-	fp32_t		Same as field type
Channel 6	ch06	-	fp32_t		Same as field type
Channel 7	ch07	-	fp32_t		Same as field type
Channel 8	ch08	-	fp32_t		Same as field type
Channel 9	ch09	-	fp32_t		Same as field type
Channel 10	ch10	-	fp32_t		Same as field type
Channel 11	ch11	-	fp32_t		Same as field type
Channel 12	ch12	-	fp32_t		Same as field type
Channel 13	ch13	-	fp32_t		Same as field type
Channel 14	ch14	-	fp32_t		Same as field type
Channel 15	ch15	-	fp32_t		Same as field type
Channel 16	ch16	-	fp32_t		Same as field type

Absolute Wind

Measurement of absolute wind speed (Meaning without vehicle effects).

• Abbreviation: AbsoluteWind
• Identification Number: 911
• Payload Size: 12 bytes
• Message Size: 34 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Direction	direction	rad	fp32_t	Direction of the measured wind speed.	Same as field type
Speed	speed	m/s	fp32_t	The value of the wind speed as measured by the sensor.	Same as field type
Turbulence	turbulence	m/s	fp32_t	Wind turbulence intensity.	Same as field type

AIS Info

Message containing static or dynamic AIS data received onboard the vehicle.

• Abbreviation: AisInfo
• Identification Number: 912
• Payload Size: 60+ bytes
• Message Size: 82+ bytes

Name	Abbreviation	Unit	Type	Description	Range
Message Type	msg_type	-	plaintext	Integer indicating the message type: 1,2,3,5, …	Same as field type
Class	sensor_class	-	plaintext	The class of a sensor tells the type of sensor originating this message. It will determine how the sensor is to be shown and (optionally) how the custom data (tuplelist) is to be interpreted.	Same as field type
MMSI	mmsi	-	plaintext	An unique string that identifies the sensor/vessel.	Same as field type
Callsign	callsign	-	plaintext		Same as field type
Name	name	-	plaintext		Same as field type
Navigation Status	nav_status	-	uint8_t		Same as field type
Type and Cargo	type_and_cargo	-	uint8_t		Same as field type
Latitude	lat	rad	fp64_t		Same as field type
Longitude	lon	rad	fp64_t		Same as field type
Course	course	°	fp32_t		Same as field type
Speed	speed	kn	fp32_t		Same as field type
Distance	dist	m	fp32_t	Distance to own vehicle.	Same as field type
Size A Length	a	m	fp32_t	Size of the vehicle (length = A + B, width = C + D)	Same as field type
Size B Length	b	m	fp32_t		Same as field type
Size C Width	c	m	fp32_t		Same as field type
Size D Width	d	m	fp32_t		Same as field type
Draught	draught	m	fp32_t		Same as field type

Position Displacement

Component of incremetal position vector over a period of time.

• Abbreviation: Displacement
• Identification Number: 915
• Payload Size: 32 bytes
• Message Size: 54 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Device Time	time	s	fp64_t	The device time.	Same as field type
X	x	m	fp64_t	X component.	Same as field type
Y	y	m	fp64_t	Y component.	Same as field type
Z	z	m	fp64_t	Z component.	Same as field type

Current Profile

Contains a profile of water velocities measured relative to the vehicle velocity, represented in the specified coordinate system.

• Abbreviation: CurrentProfile
• Identification Number: 1014
• Payload Size: 5+ bytes
• Message Size: 27+ bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Number of Beams	nbeams	-	uint8_t	Number of ADCP beams.	Same as field type
Number of Cells	ncells	-	uint8_t	Number of ADCP cells.	Same as field type
Coordinate System	coord_sys	Bitfield (Bitfield Coordinate System)	uint8_t	Coordinate system of the velocity measurement.	Same as field type
Profile	profile	-	message-list (Current Profile Cell)	List of current profile measurement cells.	Same as field type

Bitfield Coordinate System

Coordinate system of the velocity measurement.

• Abbreviation: coord_sys
• Prefix: UTF

Value	Name	Abbreviation	Description
0x01	xyz	XYZ	-
0x02	ned	NED	-
0x04	beams	BEAMS	-
0x08	enu	ENU	-

Current Profile Cell

One Current measurement at a specific CellPosition.

• Abbreviation: CurrentProfileCell
• Identification Number: 1015
• Payload Size: 6+ bytes
• Message Size: 28+ bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Cell Position	cell_position	m	fp32_t	Distance of each measurment cell along the Z-axis in the coordintate frame.	Same as field type
Beams Measurements	beams	-	message-list (ADCP Beam Measurements)	List of beams measurements at the current cell level.	Same as field type

ADCP Beam Measurements

Measurement from one specific beam at the given CellPosition. Water Velocity is provided in the chosen Coordinate system. Amplitude and Correlation are always in the BEAM coordinate system.

• Abbreviation: ADCPBeam
• Identification Number: 1016
• Payload Size: 9 bytes
• Message Size: 31 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Water Velocity	vel	m/s	fp32_t	Water velocity measured in the chosen coordinate system.	Same as field type
Amplitude	amp	dB	fp32_t	Amplitude of returning ping for the beam.	Same as field type
Correlation	cor	%	uint8_t	Autocorrelation of returning ping for the beam.	min=0, max=100

Frequency

No description

• Abbreviation: Frequency
• Identification Number: 1017
• Payload Size: 4 bytes
• Message Size: 26 bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	Hz	fp32_t	Frequency value.	Same as field type

Wave Spectrum Parameters

This message reports various parameters related to ocean wave characteristics, including height, direction, and period.

• Abbreviation: WaveSpectrumParameters
• Identification Number: 1018
• Payload Size: 108 bytes
• Message Size: 130 bytes

Name	Abbreviation	Unit	Type	Description	Range
Significant Wave Height Hm0	sig_wave_height_hm0	m	fp32_t	The average height of the highest one-third of waves in a wave spectrum, representing overall sea state.	Same as field type
Wave Peak Direction	wave_peak_direction	°	fp32_t	The dominant direction from which waves are propagating at their peak energy level.	Same as field type
Wave Peak Period	wave_peak_period	s	fp32_t	The time interval between successive wave crests at the peak energy level.	Same as field type
Wave Height Wind Hm0	wave_height_wind_hm0	m	fp32_t	The significant wave height generated by wind-driven waves.	Same as field type
Wave Height Swell Hm0	wave_height_swell_hm0	m	fp32_t	The significant wave height attributed to long-period swells.	Same as field type
Wave Peak Period Wind	wave_peak_period_wind	s	fp32_t	The dominant period of wind-generated waves.	Same as field type
Wave Peak Period Swell	wave_peak_period_swell	s	fp32_t	The dominant period of long-period swells.	Same as field type
Wave Peak Direction Wind	wave_peak_direction_wind	°	fp32_t	The primary direction of wind-generated waves.	Same as field type
Wave Peak Direction Swell	wave_peak_direction_swell	°	fp32_t	The primary direction of swell waves.	Same as field type
Wave Mean Direction	wave_mean_direction	°	fp32_t	The average direction of all waves in the wave spectrum.	Same as field type
Wave Mean Period Tm02	wave_mean_period_tm02	s	fp32_t	The mean period of ocean waves based on the spectral moment calculation.	Same as field type
Wave Height Hmax	wave_height_hmax	m	fp32_t	The maximum wave height observed in a given period.	Same as field type
Wave Height Crest	wave_height_crest	m	fp32_t	The height of the highest point of a wave above the mean water level.	Same as field type
Wave Height Trough	wave_height_trough	m	fp32_t	The depth of the lowest point of a wave below the mean water level.	Same as field type
Wave Period Tmax	wave_period_tmax	s	fp32_t	The longest observed wave period within a given time frame.	Same as field type
Wave Period Tz	wave_period_tz	s	fp32_t	The mean zero-crossing period of waves, an indicator of average wave duration.	Same as field type
Significant Wave Height H1/3	significant_wave_height_h1_3	m	fp32_t	The mean height of the highest one-third of measured waves, commonly used to describe sea conditions.	Same as field type
Mean Spreading Angle	mean_spreading_angle	°	fp32_t	The average angular dispersion of wave energy across different directions.	Same as field type
First Order Spread	first_order_spread	°	fp32_t	The first-order measure of directional wave spreading.	Same as field type
Long Crestedness Parameters	long_crestedness_parameters	-	fp32_t	A parameter indicating the degree to which waves are long-crested or short-crested.	Same as field type
Heading	heading	°	fp32_t	The vessel’s orientation relative to true north.	Same as field type
Pitch	pitch	°	fp32_t	The angular motion of the vessel along its transverse axis.	Same as field type
Roll	roll	°	fp32_t	The angular motion of the vessel along its longitudinal axis.	Same as field type
External Heading	external_heading	°	fp32_t	The heading measurement obtained from an external source, such as a GPS compass.	Same as field type
StDev Heading	stdev_heading	°	fp32_t	The standard deviation of heading measurements, indicating heading stability.	Same as field type
StDev Pitch	stdev_pitch	°	fp32_t	The standard deviation of pitch measurements, indicating variability in vessel movement.	Same as field type
StDev Roll	stdev_roll	°	fp32_t	The standard deviation of roll measurements, indicating fluctuations in vessel roll motion.	Same as field type

Colored Dissolved Organic Matter

Colored Dissolved Organic Matter measurement.

• Abbreviation: ColoredDissolvedOrganicMatter
• Identification Number: 2003
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Colored Dissolved Organic Matter reading.	Same as field type

Fluorescent Dissolved Organic Matter

Fluorescent Dissolved Organic Matter measurement.

• Abbreviation: FluorescentDissolvedOrganicMatter
• Identification Number: 2004
• Payload Size: 4 bytes
• Message Size: 26 bytes
• Flags: periodic

Name	Abbreviation	Unit	Type	Description	Range
Value	value	PPB	fp32_t	Fluorescent Dissolved Organic Matter reading.	Same as field type

Total Magnetic Field Intensity

No description

• Abbreviation: TotalMagIntensity
• Identification Number: 2006
• Payload Size: 8 bytes
• Message Size: 30 bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	-	fp64_t	Total Magnetic Field Intensity (TMI)	Same as field type

Total Heading

This message is used to report the cumulative heading value.

• Abbreviation: TotalHeading
• Identification Number: 2022
• Payload Size: 4 bytes
• Message Size: 26 bytes

Name	Abbreviation	Unit	Type	Description	Range
Value	value	rad	fp32_t	Cumulative heading value, in radians.	Same as field type

Battery Detailed Info

Deprecated: use QueryBmsData/BmsData instead. Used to debug the state of a BMS.

• Abbreviation: BDI
• Identification Number: 2035
• Payload Size: 2 bytes
• Message Size: 24 bytes
• Flags: periodic,deprecated

Name	Abbreviation	Unit	Type	Description	Range
State of Health	soh	%	int16_t	State of health as a percentage (0-100%)	Same as field type

Query BMS Data

Request detailed battery management system data from a vehicle. The vehicle replies with one or more BmsData messages depending on the requested operation and pack index. If pack_idx is 0xFF the vehicle returns data for every detected battery pack. The operation field selects which class of data is returned, allowing future extension without protocol changes.

• Abbreviation: QueryBmsData
• Identification Number: 2041
• Payload Size: 5+ bytes
• Message Size: 27+ bytes

Name	Abbreviation	Unit	Type	Description	Range
Operation	op	Enumerated (Enum Operation)	uint8_t	Type of BMS data requested.	Same as field type
Pack Index	pack_idx	-	uint8_t	Battery pack index (0-based). Use 0xFF to address all detected packs.	Same as field type
SBS Register	sbs_register	-	uint8_t	SBS register address for READ_RAW / WRITE_RAW operations. Ignored for other operations.	Same as field type
Data	data	-	rawdata	Payload for write operations (WRITE_RAW, SET_FET). For READ_RAW, data[0] specifies the expected response length in bytes (defaults to 2 if empty). Unused for other read operations.	Same as field type

Enum Operation

Type of BMS data requested.

• Abbreviation: op
• Prefix: BOP

Value	Name	Abbreviation	Description
0	Read Telemetry	READ_TELEMETRY	Voltage, current, temperature, SOC, time to empty.
1	Read Cell Voltages	READ_CELL_VOLTAGES	Individual cell voltages.
2	Read Status	READ_STATUS	SOH, battery status, cycle count, capacity, serial, FET status.
3	Read All	READ_ALL	Combination of telemetry, cell voltages and status.
4	Raw Register Read	READ_RAW	Read an arbitrary SBS register (address in sbs_register).
5	Raw Register Write	WRITE_RAW	Write to an arbitrary SBS register (address in sbs_register, payload in data).
6	Set FET	SET_FET	Control charge/discharge/pre-charge FETs. Desired FET bit-mask in data[0-1] LE.

BMS Data

Battery management system data returned in response to a QueryBmsData request. One message is sent per battery pack. Fields that are not applicable to the requested operation are set to zero.

• Abbreviation: BmsData
• Identification Number: 2042
• Payload Size: 57+ bytes
• Message Size: 79+ bytes

Name	Abbreviation	Unit	Type	Description	Range
Original Message	original	-	message	The message that originated the request.	Same as field type
Request Status	req_status	Enumerated (Enum Request Status)	uint8_t	Outcome of the request.	Same as field type
Pack Index	pack_idx	-	uint8_t	Battery pack index (0-based).	Same as field type
Temperature	temperature	°C	fp32_t	Pack temperature in degrees Celsius.	Same as field type
Voltage	voltage	V	fp32_t	Pack voltage.	Same as field type
Current	current	A	fp32_t	Pack current (positive = charging).	Same as field type
Relative State of Charge	rsoc	%	uint8_t	Relative state of charge.	Same as field type
Absolute State of Charge	asoc	%	uint8_t	Absolute state of charge.	Same as field type
State of Health	soh	%	uint8_t	State of health.	Same as field type
Remaining Capacity	remaining_capacity	mAh	uint16_t	Remaining battery capacity.	Same as field type
Full Charge Capacity	full_charge_capacity	mAh	uint16_t	Full charge capacity at current conditions.	Same as field type
Cycle Count	cycle_count	-	uint16_t	Number of charge/discharge cycles.	Same as field type
Time to Empty	time_to_empty	min	uint16_t	Estimated time to empty.	Same as field type
Time to Full	time_to_full	min	uint16_t	Estimated time to full charge.	Same as field type
Battery Status	battery_status	Bitfield (Bitfield Battery Status)	uint16_t	Raw SBS battery status register.	Same as field type
Serial Number	serial_number	-	uint16_t	BMS serial number.	Same as field type
FET Status	fet_status	Bitfield (Bitfield FET Status)	uint16_t	Host FET control register state.	Same as field type
Safety Status	safety_status	Bitfield (Bitfield Safety Status)	uint32_t	Safety Status register bitfield from the battery gauge IC.	Same as field type
PF Status	pf_status	Bitfield (Bitfield PF Status)	uint32_t	Permanent Failure Status register bitfield from the battery gauge IC.	Same as field type
Operation Status	operation_status	Bitfield (Bitfield Operation Status)	uint32_t	Operation Status register bitfield from the battery gauge IC.	Same as field type
Charging Status	charging_status	Bitfield (Bitfield Charging Status)	uint16_t	Charging Status register bitfield from the battery gauge IC.	Same as field type
Gauging Status	gauging_status	Bitfield (Bitfield Gauging Status)	uint16_t	Gauging Status register bitfield from the battery gauge IC.	Same as field type
Cell Voltages	cell_voltages	-	message-list (BMS Cell Voltage)	Individual cell voltages (populated for READ_CELL_VOLTAGES and READ_ALL).	Same as field type
Registers	registers	-	message-list (BMS Register)	Arbitrary SBS register values. Each entry carries a register address and its raw value, allowing the handler to expose new registers without protocol changes. Populated alongside the typed fields for READ_TELEMETRY, READ_STATUS and READ_ALL; always populated for READ_RAW.	Same as field type
Data	data	-	rawdata	Raw response data for READ_RAW / WRITE_RAW operations.	Same as field type

Enum Request Status

Outcome of the request.

• Abbreviation: req_status
• Prefix: BST

Value	Name	Abbreviation	Description
0	Success	SUCCESS	-
1	Failure	FAILURE	-
2	Not Supported	NOT_SUPPORTED	-
3	Invalid Pack	INVALID_PACK	-

Bitfield Battery Status

Raw SBS battery status register.

• Abbreviation: battery_status
• Prefix: BST

Value	Name	Abbreviation	Description
0x8000	Overcharged Alarm	OCA	-
0x4000	Terminate Charge Alarm	TCA	-
0x1000	Overtemperature Alarm	OTA	-
0x0800	Terminate Discharge Alarm	TDA	-
0x0200	Remaining Capacity Alarm	RCA	-
0x0100	Remaining Time Alarm	RTA	-
0x0080	Initialization	INIT	-
0x0040	Discharging or Rest	DSG	-
0x0020	Fully Charged	FC	-
0x0010	Fully Discharged	FD	-
0x0007	Error Code	EC	-

Bitfield FET Status

Host FET control register state.

• Abbreviation: fet_status
• Prefix: FET

Value	Name	Abbreviation	Description
0x01	Charge FET	CHG	-
0x02	Discharge FET	DSG	-
0x04	Pre-Charge FET	PCHG	-

Bitfield Safety Status

Safety Status register bitfield from the battery gauge IC.

• Abbreviation: safety_status
• Prefix: SS

Value	Name	Abbreviation	Description
0x00100000	Overcharge	OC	-
0x00040000	Charge Timeout	CTO	-
0x00010000	Precharge Timeout	PTO	-
0x00004000	Overcurrent During Discharge Latch	OCDL	-
0x00002000	Overtemperature Fault	OTF	-
0x00001000	AFE Alert	AFE_OVRD	-
0x00000800	Undertemperature During Discharge	UTD	-
0x00000400	Undertemperature During Charge	UTC	-
0x00000200	Overtemperature During Discharge	OTD	-
0x00000100	Overtemperature During Charge	OTC	-
0x00000080	Short Circuit During Discharge Latch	ASCDL	-
0x00000040	Short Circuit During Discharge	ASCD	-
0x00000020	Overload During Discharge Latch	AOLDL	-
0x00000010	Overload During Discharge	AOLD	-
0x00000008	Overcurrent During Discharge	OCD	-
0x00000004	Overcurrent During Charge	OCC	-
0x00000002	Cell Overvoltage	COV	-
0x00000001	Cell Undervoltage	CUV	-

Bitfield PF Status

Permanent Failure Status register bitfield from the battery gauge IC.

• Abbreviation: pf_status
• Prefix: PF

Value	Name	Abbreviation	Description
0x00020000	Data Flash Wearout Failure	DFW	-
0x00010000	Instruction Flash Checksum Failure	IFC	-
0x00008000	Safety Overtemperature FET Failure	SOTF	-
0x00004000	Open Thermistor TS3 Failure	TS3	-
0x00002000	Open Thermistor TS2 Failure	TS2	-
0x00001000	Open Thermistor TS1 Failure	TS1	-
0x00000800	AFE XREADY Failure	AFE_XRDY	-
0x00000400	AFE Override Failure	AFE_OVRD	-
0x00000200	AFE Communication Failure	AFEC	-
0x00000100	AFE Register Failure	AFER	-
0x00000080	Discharge FET Failure	DFETF	-
0x00000040	Charge FET Failure	CFETF	-
0x00000020	Voltage Imbalance At Rest Failure	VIMR	-
0x00000010	Safety Overtemperature Cell Failure	SOT	-
0x00000008	Safety Overcurrent in Discharge	SOCD	-
0x00000004	Safety Overcurrent in Charge	SOCC	-
0x00000002	Safety Cell Overvoltage Failure	SOV	-
0x00000001	Safety Cell Undervoltage Failure	SUV	-

Bitfield Operation Status

Operation Status register bitfield from the battery gauge IC.

• Abbreviation: operation_status
• Prefix: OS

Value	Name	Abbreviation	Description
0x80000000	KEYIN	KEYIN	-
0x10000000	Cell Balancing	CB	-
0x08000000	CC Measurement in SLEEP	SLPCC	-
0x04000000	ADC Measurement in SLEEP	SLPAD	-
0x01000000	Initialization After Full Reset	INIT	-
0x00800000	SLEEP Mode	SLEEPM	-
0x00400000	400-kHz SMBus Mode	XL	-
0x00200000	Calibration Output CC	CAL_OFFSET	-
0x00100000	Calibration Output ADC and CC	CAL	-
0x00040000	Authentication In Progress	AUTH	-
0x00020000	LED Display	LED	-
0x00010000	SHUTDOWN Via Command	SDM	-
0x00008000	SLEEP Conditions Met	SLEEP	-
0x00004000	Charging Disabled	XCHG	-
0x00002000	Discharging Disabled	XDSG	-
0x00001000	Permanent Failure Mode	PF	-
0x00000800	Safety Mode	SAFE_MODE	-
0x00000400	Shutdown Via Low Voltage	SDV	-
0x00000200	Security Mode SEC1	SEC1	-
0x00000100	Security Mode SEC0	SEC0	-
0x00000020	SAFE Pin	SAFE	-
0x00000010	Host FET Control	HCFET	-
0x00000008	Precharge FET	PCHG	-
0x00000004	DSG FET	DSG	-
0x00000002	CHG FET	CHG	-
0x00000001	System Present Low	PRES	-

Bitfield Charging Status

Charging Status register bitfield from the battery gauge IC.

• Abbreviation: charging_status
• Prefix: CS

Value	Name	Abbreviation	Description
0x8000	Charge Termination	VCT	-
0x2000	Charge Suspend	SU	-
0x1000	Charge Inhibit	IN	-
0x0200	Fast Charge Mode	FCHG	-
0x0100	Pre-Charge Mode	PCHG	-
0x0010	Overtemperature Region	OT	-
0x0008	High Temperature Region	HT	-
0x0004	Standard Temperature Region	ST	-
0x0002	Low Temperature Region	LT	-
0x0001	Undertemperature Region	UT	-

Bitfield Gauging Status

Gauging Status register bitfield from the battery gauge IC.

• Abbreviation: gauging_status
• Prefix: GS

Value	Name	Abbreviation	Description
0x8000	Discharge Qualified for Learning	VDQ	-
0x4000	End-of-Discharge Voltage Level 2	EDV2	-
0x2000	End-of-Discharge Voltage Level 1	EDV1	-
0x0400	Full Charge Capacity Updated	FCCX	-
0x0100	Rest	REST	-
0x0080	Condition Flag	CF	-
0x0040	Discharge or Relax	DSG	-
0x0020	End-of-Discharge Voltage Level 0	EDV0	-
0x0010	Cell Balancing Possible	BAL_OK	-
0x0008	Terminate Charge	TC	-
0x0004	Terminate Discharge	TD	-
0x0002	Fully Charged	FC	-
0x0001	Fully Discharged	FD	-

BMS Cell Voltage

Voltage of a single battery cell, used as a sub-message inside BmsData.

• Abbreviation: BmsCellVoltage
• Identification Number: 2043
• Payload Size: 5 bytes
• Message Size: 27 bytes

Name	Abbreviation	Unit	Type	Description	Range
Cell Number	cell_number	-	uint8_t	Cell index (1-based).	Same as field type
Voltage	voltage	V	fp32_t	Cell voltage.	Same as field type

BMS Register

Raw SBS register value, used as a sub-message inside BmsData. Allows returning arbitrary register data in a structured way without requiring protocol changes for each new register.

• Abbreviation: BmsRegister
• Identification Number: 2044
• Payload Size: 3+ bytes
• Message Size: 25+ bytes

Name	Abbreviation	Unit	Type	Description	Range
Register	reg	-	uint8_t	SBS register address.	Same as field type
Value	value	-	rawdata	Raw register value (length depends on register).	Same as field type