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.
| 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 |
Position and configuration of an LBL transponder (beacon).
| 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 |
Long Base Line configuration.
| 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 |
Used to define the type of the operation this message holds.
| 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 | - |
Send an acoustic message.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Message to send | message | - | message | Message to send. | Same as field type |
Send an acoustic message.
| 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 |
No description
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0x01 | Acknowledgement | ACK | - |
| 0x02 | Delayed | DELAYED | - |
| 0x03 | Reply | REPLY | - |
Acoustic operation.
| 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 |
Operation type.
| 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”. |
Request a list of known underwater acoustic systems. The recipient of this message shall reply with an AcousticSystems message.
This message has no fields.
This message is sent in reply to an AcousticSystemsQuery message and lists all known underwater acoustic systems (modems, narrow band transponders, etc).
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| System List | list | List | plaintext | Comma separated list of known acoustic system names. | Same as field type |
This message is used to report the perceived link quality to other acoustic peers.
| Name | Abbreviation | Unit | Type | Description | Range |
|---|---|---|---|---|---|
| Peer Name | peer | - | plaintext | The name of the peer on the other side of this link. | Same as field type |
| Received Signal Strength Indicator | rssi | dB | fp32_t | RSSI is a signed floating point number. Higher RSSI values correspond to stronger signals. The signal strength is acceptable when measured RSSI values lie between -20 dB and -85 dB. | Same as field type |
| Signal Integrity Level | integrity | - | uint16_t | Signal Integrity value illustrates distortion of the last received acoustic signal. It is calculated based on cross-correlation measurements. Higher Signal Integrity Level values correspond to less distorted signals. An acoustic link is considered weak if the Signal Integrity Level value is less than 100. | Same as field type |
Request Acoustic sending.
| 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 |
No description
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Abort | ABORT | - |
| 1 | Range | RANGE | - |
| 2 | Reverse Range | REVERSE_RANGE | - |
| 3 | Message | MSG | - |
| 4 | Raw | RAW | - |
| 5 | Position Request | POSITION_REQUEST | - |
Reply sent in response to a Acoustic Text sending request.
| 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 |
No description
| Value | Name | Abbreviation | Description |
|---|---|---|---|
| 0 | Abort | ABORT | - |
| 1 | Range | RANGE | - |
| 2 | Reverse Range | REVERSE_RANGE | - |
| 3 | Message | MSG | - |
| 4 | Raw | RAW | - |
No description
| 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 | - |
This message shall be sent to acoustic modem drivers to request transmission of a data frame via the acoustic channel.
| 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 |
Transmission flags.
| 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”. |
This message shall be dispatched by acoustic modem drivers each time a data frame is received over the acoustic channel.
| 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 |
Reception flags.
| 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. |
This message shall be used by acoustic modem drivers to send updates on the transmission status of data frames.
| 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 |
Frame transmission status.
| 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. |
Acoustic range measurement.
| 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 |
Request an acoustic modem driver to measure the distance to another system.
| 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 |
This message contains information, collected using USBL, about the bearing and elevation of a target.
| 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 |
This message contains information, collected using USBL, about a target’s position.
| 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 |
This message contains the WGS-84 position of a target computed using USBL.
| 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 |
This message contains information, collected using USBL, about the bearing and elevation of a target.
| 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 |
This message contains information, collected using USBL, about a target’s position.
| 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 |
This message contains the WGS-84 position of a target computed using USBL.
| 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 |
Position and configuration of an Ultra-Short Base Line modem.
| 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 |
Ultra-Short Base Line configuration.
| 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 |
Used to define the type of the operation this message holds.
| 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 | - |