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TSS1

The TSS1 protocol is a proprietary, fixed-length ASCII format, modified from the Sounder protocol, including aiding MRU status information. It has a fixed number of MRU variables and is terminated with CR and LF.

Data:

  • Sway acceleration, heave acceleration

  • Heave

  • Roll, pitch

Format:

:aabbbb shhhhxsrrrr spppp<CR><LF>

TSS1 protocol description

FIELD N.

FIELD

DESCRIPTION

UNIT

TYPE

NOTE

0

:

start character

-

string


1

aa

sway acceleration

[m/s²]

HEX

aa: ‘aa' is the sway acceleration represented by two hexadecimal numbers in range [0, 9.81] m/s².

Resolution: 0.03835 m/s² per bit.

2

bbbb

heave acceleration

[m/s²]

HEX

Sign: Positive (+) when elevated.

bbbb: ‘bbbb' is the heave acceleration represented by four hexadecimal numbers in range [-20.48, 20.48] m/s².

Resolution: 0.000625 m/s² per bit.

3

s

heave sign

-

-

Space [ ] if positive, '-' if negative.

4

hhhh

heave

[m]

INT

Sign: Positive (+) when elevated.

hhhh: 'hhhh' is the heave represented by four positive digits in range [-9999,9999].

Resolution: 1 cm per bit.

5

x

status code

-

-

Aiding MRU status information. See table below for details.

6

s

roll sign

-

-

Space [ ] if positive, '-' if negative.

7

rrrr

roll angle in degrees multiplied by 100

[deg]

INT

Sign: Positive (+) when port up.

rrrr: 'rrrr' is the roll angle represented by four positive digits in range [-8999,8999].

Resolution: 0.01 degrees.

8

s

pitch sign

-

-

Space [ ] if positive, '-' if negative.

9

pppp

pitch angle in degrees multiplied by 100

[deg]

INT

Sign: Positive (+) when bow up.

pppp: 'pppp' is the pitch angle represented by four positive digits in range [-8999, 8999].

Resolution: 0.01 degrees.

10

<CR><LF>

Termination characters

-

-


Status code:

TSS1 status code description

Status code

Description

U

unaided, stable data.

u

unaided, unstable data.

G

speed aided, stable data.

g

speed aided, unstable data.

H

heading aided, stable data.

h

heading aided, unstable data.

F

full aided, stable data.

f

full aided, unstable data.

Example:

TSS1 frame with raw example data is listed below.

:aabbbb shhhhxsrrrr spppp<CR><LF>

Field 0

Field 1

Field 2

Field 3

Field 4

Field 5

Field 6

Field 7

Field 8

Field 9

:

0A

2EE0

-

0135

U

-

0238

-

0367

Decoded values:

  • Sway acceleration

    • Raw value: 0A, decoded sway acceleration: 0.4 m/s².

  • Heave acceleration

    • Raw value: ZEE0, decoded sway acceleration: -7.5 m/s².

  • Heave (including sign)

    • Raw value: -0135, decoded heave: -1.35 m.

  • Status code

    • Raw value: U, decoded status code: Unaided, stable data.

  • Roll (including sign)

    • Raw value: -0238, decoded roll angle: -2.38 degrees.

  • Pitch (including sign)

    • Raw value: -0367, decoded pitch angle: 3.67 degrees

Note 1

The roll angle in the TSS1 message, ΦTSS1, is not in Euler angles. The following relationship yields:

ΦTSS1 = arcsin(sin(Φeuler)cos(θeuler)),

where Φeuler is the Euler roll angle and θeuler is the Euler pitch angle.

Note 2

The reference frame for data (e.g., roll) is configurable in the TSS1 protocol. Also, the data's location (e.g., MRU or MP1) is configurable.