Output variables list

101

quaternion_1

[-]

[-]

MRU to  NED

First element of the quaternion vector. MRU to NED frame.

Single

102

quaternion_2

[-]

[-]

MRU to  NED

Second element of the quaternion vector. MRU to NED frame.

Single

103

quaternion_3

[-]

[-]

MRU to  NED

Third element of the quaternion vector. MRU to NED frame.

Single

104

quaternion_4

[-]

[-]

MRU to  NED

Fourth element of the quaternion vector. MRU to NED frame.

Single

105

quaternion_1

[-]

[-]

Body to  NED

First element of the quaternion vector. Body to NED frame.

Single

106

quaternion_2

[-]

[-]

Body to  NED

Second element of the quaternion vector. Body to NED frame.

Single

107

quaternion_3

[-]

[-]

Body to  NED

Third element of the quaternion vector. Body to NED frame.

Single

108

quaternion_4

[-]

[-]

Body to  NED

Fourth element of the quaternion vector. Body to NED frame.

Single

109

Roll

[rad]

[-]

MRU to  NED

Roll euler angle in radians. MRU to NED frame.

Single

110

Pitch

[rad]

[-]

MRU to  NED

Pitch euler angle in radians. MRU to NED frame.

Single

111

Yaw

[rad]

[-]

MRU to  NED

Yaw euler angle in radians. MRU to NED frame.

Single

112

Roll

[rad]

[-]

Body to  NED

Roll euler angle in radians. Body to NED frame.

Single

113

Pitch

[rad]

[-]

Body to  NED

Pitch euler angle in radians. Body to NED frame.

Single

114

Yaw

[rad]

[-]

Body to  NED

Yaw euler angle in radians. Body to NED frame.

Single

115

RollRate

[rad/s]

[-]

MRU

Angular velocity about the x-axis of the MRU frame in radians/s.

Single

116

PitchRate

[rad/s]

[-]

MRU

Angular velocity about the y-axis of the MRU frame in radians/s.

Single

117

YawRate

[rad/s]

[-]

MRU

Angular velocity about the z-axis of the MRU frame in radians/s.

Single

118

RollRate

[rad/s]

[-]

Body

Angular velocity about the x-axis of the Body frame in radians/s.

Single

119

PitchRate

[rad/s]

[-]

Body

Angular velocity about the y-axis of the Body frame in radians/s.

Single

120

YawRate

[rad/s]

[-]

Body

Angular velocity about the z-axis of the Body frame in radians/s.

Single

121

Roll

[deg]

[-]

MRU to  NED

Roll euler angle in degrees. MRU to NED frame.

Single

122

Pitch

[deg]

[-]

MRU to  NED

Pitch euler angle in degrees. MRU to NED frame.

Single

123

Yaw

[deg]

[-]

MRU to  NED

Yaw euler angle in degrees. MRU to NED frame.

Single

124

Roll

[deg]

[-]

Body to  NED

Roll euler angle in degrees. Body to NED frame.

Single

125

Pitch

[deg]

[-]

Body to  NED

Pitch euler angle in degrees. Body to NED frame.

Single

126

Yaw

[deg]

[-]

Body to  NED

Yaw euler angle in degrees. Body to NED frame.

Single

127

RollRate

[deg/s]

[-]

MRU

Angular velocity about the x-axis of the MRU frame in degrees/s.

Single

128

PitchRate

[deg/s]

[-]

MRU

Angular velocity about the y-axis of the MRU frame in degrees/s.

Single

129

YawRate

[deg/s]

[-]

MRU

Angular velocity about the z-axis of the MRU frame in degrees/s.

Single

130

RollRate

[deg/s]

[-]

Body

Angular velocity about the x-axis of the Body frame in degrees/s.

Single

131

PitchRate

[deg/s]

[-]

Body

Angular velocity about the y-axis of the Body frame in degrees/s.

Single

132

YawRate

[deg/s]

[-]

Body

Angular velocity about the z-axis of the Body frame in degrees/s.

Single

133

Surge

[m]

MRU

MRU

Linear position of the MRU along the x-axis in the MRU frame.

Single

134

Sway

[m]

MRU

MRU

Linear position of the MRU along the y-axis in the MRU frame.

Single

135

Heave

[m]

MRU

MRU

Linear position of the MRU along the z-axis in the MRU frame.

Single

136

SurgeVelocity

[m/s]

MRU

MRU

Linear velocity of the MRU along the x-axis in the MRU frame.

Single

137

SwayVelocity

[m/s]

MRU

MRU

Linear velocity of the MRU along the y-axis in the MRU frame.

Single

138

HeaveVelocity

[m/s]

MRU

MRU

Linear velocity of the MRU along the z-axis in the MRU frame.

Single

139

SurgeAcceleration

[m/s²]

MRU

MRU

Linear acceleration of the MRU along the x-axis in the MRU frame.

Single

140

SwayAcceleration

[m/s²]

MRU

MRU

Linear acceleration of the MRU along the y-axis in the MRU frame.

Single

141

HeaveAcceleration

[m/s²]

MRU

MRU

Linear acceleration of the MRU along the z-axis in the MRU frame.

Single

142

SurgeIntegral

[ms]

MRU

NED

Integral of linear position of the MRU along the x-axis in the NED frame.

Single

143

SwayIntegral

[ms]

MRU

NED

Integral of linear position of the MRU along the y-axis in the NED frame.

Single

144

HeaveIntegral

[ms]

MRU

NED

Integral of linear position of the MRU along the z-axis in the NED frame.

Single

145

Surge

[m]

MRU

NED

Linear position of the MRU along the x-axis in the NED frame.

Single

146

Sway

[m]

MRU

NED

Linear position of the MRU along the y-axis in the NED frame.

Single

147

Heave

[m]

MRU

NED

Linear position of the MRU along the z-axis in the NED frame.

Single

148

SurgeVelocity

[m/s]

MRU

NED

Linear velocity of the MRU along the x-axis in the NED frame.

Single

149

SwayVelocity

[m/s]

MRU

NED

Linear velocity of the MRU along the y-axis in the NED frame.

Single

150

HeaveVelocity

[m/s]

MRU

NED

Linear velocity of the MRU along the z-axis in the NED frame.

Single

151

SurgeAcceleration

[m/s²]

MRU

NED

Linear acceleration of the MRU along the x-axis in the NED frame.

Single

152

SwayAcceleration

[m/s²]

MRU

NED

Linear acceleration of the MRU along the y-axis in the NED frame.

Single

153

HeaveAcceleration

[m/s²]

MRU

NED

Linear acceleration of the MRU along the z-axis in the NED frame.

Single

154

Surge

[m]

MRU

Body

Linear position of the MRU along the x-axis in the Body frame.

Single

155

Sway

[m]

MRU

Body

Linear position of the MRU along the y-axis in the Body frame.

Single

156

Heave

[m]

MRU

Body

Linear position of the MRU along the z-axis in the Body frame.

Single

157

SurgeVelocity

[m/s]

MRU

Body

Linear velocity of the MRU along the x-axis in the Body frame.

Single

158

SwayVelocity

[m/s]

MRU

Body

Linear velocity of the MRU along the y-axis in the Body frame.

Single

159

HeaveVelocity

[m/s]

MRU

Body

Linear velocity of the MRU along the z-axis in the Body frame.

Single

160

SurgeAcceleration

[m/s²]

MRU

Body

Linear acceleration of the MRU along the x-axis in the Body frame.

Single

161

SwayAcceleration

[m/s²]

MRU

Body

Linear acceleration of the MRU along the y-axis in the Body frame.

Single

162

HeaveAcceleration

[m/s²]

MRU

Body

Linear acceleration of the MRU along the z-axis in the Body frame.

Single

163

Surge

[m]

MRU

Heading

Linear position of the MRU along the x-axis in the Heading frame.

Single

164

Sway

[m]

MRU

Heading

Linear position of the MRU along the y-axis in the Heading frame.

Single

165

Heave

[m]

MRU

Heading

Linear position of the MRU along the z-axis in the Heading frame.

Single

166

SurgeVelocity

[m/s]

MRU

Heading

Linear velocity of the MRU along the x-axis in the Heading frame.

Single

167

SwayVelocity

[m/s]

MRU

Heading

Linear velocity of the MRU along the y-axis in the Heading frame.

Single

168

HeaveVelocity

[m/s]

MRU

Heading

Linear velocity of the MRU along the z-axis in the Headingframe.

Single

169

SurgeAcceleration

[m/s²]

MRU

Heading

Linear acceleration of the MRU along the x-axis in the Heading frame.

Single

170

SwayAcceleration

[m/s²]

MRU

Heading

Linear acceleration of the MRU along the y-axis in the Heading frame.

Single

171

HeaveAcceleration

[m/s²]

MRU

Heading

Linear acceleration of the MRU along the z-axis in the Heading frame.

Single

172

Latitude

[deg]

MRU

[-]

Latitude of the MRU.

Single

173

Longitude

[deg]

MRU

[-]

Longitude of the MRU.

Single

174

Altitude

[m]

MRU

[-]

Altitude of the MRU.

Single

175

UTM_North

[m]

MRU

[-]

UTM Surge position of the MRU.

Single

176

UTM_East

[m]

MRU

[-]

UTM Sway position of the MRU.

Single

177

UTM_Zone

[-]

MRU

[-]

UTM zone number.

U32

178

GyroBiasX

[rad/s]

MRU

MRU

Bias of the x-axis gyroscope.

179

GyroBiasY

[rad/s]

MRU

MRU

Bias of the y-axis gyroscope.

180

GyroBiasZ

[rad/s]

MRU

MRU

Bias of the z-axis gyroscope.

181

AccBiasX

[m/s²]

MRU

MRU

Bias of the x-axis accelerometer.

182

AccBiasY

[m/s²]

MRU

MRU

Bias of the y-axis accelerometer.

183

AccBiasZ

[m/s²]

MRU

MRU

Bias of the z-axis accelerometer.

184

g_hat

[m/s²]

MRU

NED

Estimated acceleration of gravity.

185

AngularAccelerationX

[rad/s²]

[-]

MRU

Angular acceleration X in the MRU frame.

Single

186

AngularAccelerationY

[rad/s²]

[-]

MRU

Angular acceleration Y in the MRU frame.

Single

187

AngularAccelerationZ

[rad/s²]

[-]

MRU

Angular acceleration Z in the MRU frame.

Single

188

AngularAccelerationX

[rad/s²]

[-]

Body

Angular acceleration X in the body frame.

Single

189

AngularAccelerationY

[rad/s²]

[-]

Body

Angular acceleration Y in the body frame.

Single

190

AngularAccelerationZ

[rad/s²]

[-]

Body

Angular acceleration Z in the body frame.

Single

191

SurgeAcceleration

[m/s²]

MRU

Body

Linear acceleration of the MRU along the x-axis in the Body frame incl. gravity.

Single

192

SwayAcceleration

[m/s²]

MRU

Body

Linear acceleration of the MRU along the y-axis in the Body frame incl. gravity.

Single

193

HeaveAcceleration

[m/s²]

MRU

Body

Linear acceleration of the MRU along the z-axis in the Body frame incl. gravity.

Single

194

RollRateFiltered

[rad/s]

[-]

MRU

Angular velocity about the x-axis of the MRU frame in radians/s. Filtered with user settings.

Single

195

PitchRateFiltered

[rad/s]

[-]

MRU

Angular velocity about the y-axis of the MRU frame in radians/s. Filtered with user settings.

Single

196

YawRateFiltered

[rad/s]

[-]

MRU

Angular velocity about the z-axis of the MRU frame in radians/s. Filtered with user settings.

Single

197

RollRateFiltered

[rad/s]

[-]

Body

Angular velocity about the x-axis of the Body frame in radians/s. Filtered with user settings.

Single

198

PitchRateFiltered

[rad/s]

[-]

Body

Angular velocity about the y-axis of the Body frame in radians/s. Filtered with user settings.

Single

199

YawRateFiltered

[rad/s]

[-]

Body

Angular velocity about the z-axis of the Body frame in radians/s. Filtered with user settings.

Single

201

Surge

[m]

CG

NED

Linear position of the CG along the x-axis in the NED frame.

Single

202

Sway

[m]

CG

NED

Linear position of the CG along the y-axis in the NED frame.

Single

203

Heave

[m]

CG

NED

Linear position of the CG along the z-axis in the NED frame.

Single

204

SurgeVelocity

[m/s]

CG

NED

Linear velocity of the CG along the x-axis in the NED frame.

Single

205

SwayVelocity

[m/s]

CG

NED

Linear velocity of the CG along the y-axis in the NED frame.

Single

206

HeaveVelocity

[m/s]

CG

NED

Linear velocity of the CG along the z-axis in the NED frame.

Single

207

SurgeAcceleration

[m/s²]

CG

NED

Linear acceleration of the CG along the x-axis in the NED frame.

Single

208

SwayAcceleration

[m/s²]

CG

NED

Linear acceleration of the CG along the y-axis in the NED frame.

Single

209

HeaveAcceleration

[m/s²]

CG

NED

Linear acceleration of the CG along the z-axis in the NED frame.

Single

210

Surge

[m]

CG

Body

Linear position of the CG along the x-axis in the Body frame.

Single

211

Sway

[m]

CG

Body

Linear position of the CG along the y-axis in the Body frame.

Single

212

Heave

[m]

CG

Body

Linear position of the CG along the z-axis in the Body frame.

Single

213

SurgeVelocity

[m/s]

CG

Body

Linear velocity of the CG along the x-axis in the Body frame.

Single

214

SwayVelocity

[m/s]

CG

Body

Linear velocity of the CG along the y-axis in the Body frame.

Single

215

HeaveVelocity

[m/s]

CG

Body

Linear velocity of the CG along the z-axis in the Body frame.

Single

216

SurgeAcceleration

[m/s²]

CG

Body

Linear acceleration of the CG along the x-axis in the Body frame.

Single

217

SwayAcceleration

[m/s²]

CG

Body

Linear acceleration of the CG along the y-axis in the Body frame.

Single

218

HeaveAcceleration

[m/s²]

CG

Body

Linear acceleration of the CG along the z-axis in the Body frame.

Single

219

Surge

[m]

CG

Heading

Linear position of the CG along the x-axis in the Heading frame.

Single

220

Sway

[m]

CG

Heading

Linear position of the CG along the y-axis in the Heading frame.

Single

221

Heave

[m]

CG

Heading

Linear position of the CG along the z-axis in the Heading frame.

Single

222

SurgeVelocity

[m/s]

CG

Heading

Linear velocity of the CG along the x-axis in the Heading frame.

Single

223

SwayVelocity

[m/s]

CG

Heading

Linear velocity of the CG along the y-axis in the Heading frame.

Single

224

HeaveVelocity

[m/s]

CG

Heading

Linear velocity of the CG along the z-axis in the Headingframe.

Single

225

SurgeAcceleration

[m/s²]

CG

Heading

Linear acceleration of the CG along the x-axis in the Heading frame.

Single

226

SwayAcceleration

[m/s²]

CG

Heading

Linear acceleration of the CG along the y-axis in the Heading frame.

Single

227

HeaveAcceleration

[m/s²]

CG

Heading

Linear acceleration of the CG along the z-axis in the Heading frame.

Single

228

Latitude

[deg]

CG

[-]

Latitude of the CG.

Single

229

Longitude

[deg]

CG

[-]

Longitude of the CG.

Single

230

Altitude

[m]

CG

[-]

Altitude of the CG.

Single

231

UTM_Surge

[m]

CG

[-]

UTM Surge position of the CG.

Single

232

UTM_Sway

[m]

CG

[-]

UTM Sway position of the CG.

Single

233

UTM_Zone

[-]

CG

[-]

UTM zone number of the CG.

U32

234

SurgeAcceleration

[m/s²]

CG

Body

Linear acceleration of the CG along the x-axis in the Body frame incl. gravity

Single

235

SwayAcceleration

[m/s²]

CG

Body

Linear acceleration of the CG along the y-axis in the Body frame incl. gravity

Single

236

HeaveAcceleration

[m/s²]

CG

Body

Linear acceleration of the CG along the z-axis in the Body frame incl. gravity

Single

301

Surge

[m]

MP1

NED

Linear position of the MP1 along the x-axis in the NED frame.

Single

302

Sway

[m]

MP1

NED

Linear position of the MP1 along the y-axis in the NED frame.

Single

303

Heave

[m]

MP1

NED

Linear position of the MP1 along the z-axis in the NED frame.

Single

304

SurgeVelocity

[m/s]

MP1

NED

Linear velocity of the MP1 along the x-axis in the NED frame.

Single

305

SwayVelocity

[m/s]

MP1

NED

Linear velocity of the MP1 along the y-axis in the NED frame.

Single

306

HeaveVelocity

[m/s]

MP1

NED

Linear velocity of the MP1 along the z-axis in the NED frame.

Single

307

SurgeAcceleration

[m/s²]

MP1

NED

Linear acceleration of the MP1 along the x-axis in the NED frame.

Single

308

SwayAcceleration

[m/s²]

MP1

NED

Linear acceleration of the MP1 along the y-axis in the NED frame.

Single

309

HeaveAcceleration

[m/s²]

MP1

NED

Linear acceleration of the MP1 along the z-axis in the NED frame.

Single

310

Surge

[m]

MP1

Body

Linear position of the MP1 along the x-axis in the body frame.

Single

311

Sway

[m]

MP1

Body

Linear position of the MP1 along the y-axis in the body frame.

Single

312

Heave

[m]

MP1

Body

Linear position of the MP1 along the z-axis in the body frame.

Single

313

SurgeVelocity

[m/s]

MP1

Body

Linear velocity of the MP1 along the x-axis in the body frame.

Single

314

SwayVelocity

[m/s]

MP1

Body

Linear velocity of the MP1 along the y-axis in the body frame.

Single

315

HeaveVelocity

[m/s]

MP1

Body

Linear velocity of the MP1 along the z-axis in the body frame.

Single

316

SurgeAcceleration

[m/s²]

MP1

Body

Linear acceleration of the MP1 along the x-axis in the body frame.

Single

317

SwayAcceleration

[m/s²]

MP1

Body

Linear acceleration of the MP1 along the y-axis in the body frame.

Single

318

HeaveAcceleration

[m/s²]

MP1

Body

Linear acceleration of the MP1 along the z-axis in the body frame.

Single

319

Surge

[m]

MP1

Heading

Linear position of the MP1 along the x-axis in the heading frame.

Single

320

Sway

[m]

MP1

Heading

Linear position of the MP1 along the y-axis in the heading frame.

Single

321

Heave

[m]

MP1

Heading

Linear position of the MP1 along the z-axis in the heading frame.

Single

322

SurgeVelocity

[m/s]

MP1

Heading

Linear velocity of the MP1 along the x-axis in the heading frame.

Single

323

SwayVelocity

[m/s]

MP1

Heading

Linear velocity of the MP1 along the y-axis in the heading frame.

Single

324

HeaveVelocity

[m/s]

MP1

Heading

Linear velocity of the MP1 along the z-axis in the heading frame.

Single

325

SurgeAcceleration

[m/s²]

MP1

Heading

Linear acceleration of the MP1 along the x-axis in the heading frame.

Single

326

SwayAcceleration

[m/s²]

MP1

Heading

Linear acceleration of the MP1 along the y-axis in the heading frame.

Single

327

HeaveAcceleration

[m/s²]

MP1

Heading

Linear acceleration of the MP1 along the z-axis in the heading frame.

Single

328

Latitude

[deg]

MP1

[-]

Latitude of the MP1.

Single

329

Longitude

[deg]

MP1

[-]

Longitude of the MP1.

Single

330

Altitude

[m]

MP1

[-]

Altitude of the MP1.

Single

331

UTM_Surge

[m]

MP1

[-]

UTM Surge position of the MP1.

Single

332

UTM_Sway

[m]

MP1

[-]

UTM Sway position of the MP1.

Single

333

UTM_Zone

[-]

MP1

[-]

UTM zone number of the MP1.

U32

334

SurgeAcceleration

[m/s²]

MP1

Body

Linear acceleration of the MP1 along the x-axis in the body frame incl. gravity

Single

335

SwayAcceleration

[m/s²]

MP1

Body

Linear acceleration of the MP1 along the y-axis in the body frame incl. gravity

Single

336

HeaveAcceleration

[m/s²]

MP1

Body

Linear acceleration of the MP1 along the z-axis in the body frame incl. gravity

Single

401

Surge

[m]

MP2

NED

Linear position of the MP2 along the x-axis in the NED frame.

Single

402

Sway

[m]

MP2

NED

Linear position of the MP2 along the y-axis in the NED frame.

Single

403

Heave

[m]

MP2

NED

Linear position of the MP2 along the z-axis in the NED frame.

Single

404

SurgeVelocity

[m/s]

MP2

NED

Linear velocity of the MP2 along the x-axis in the NED frame.

Single

405

SwayVelocity

[m/s]

MP2

NED

Linear velocity of the MP2 along the y-axis in the NED frame.

Single

406

HeaveVelocity

[m/s]

MP2

NED

Linear velocity of the MP2 along the z-axis in the NED frame.

Single

407

SurgeAcceleration

[m/s²]

MP2

NED

Linear acceleration of the MP2 along the x-axis in the NED frame.

Single

408

SwayAcceleration

[m/s²]

MP2

NED

Linear acceleration of the MP2 along the y-axis in the NED frame.

Single

409

HeaveAcceleration

[m/s²]

MP2

NED

Linear acceleration of the MP2 along the z-axis in the NED frame.

Single

410

Surge

[m]

MP2

Body

Linear position of the MP2 along the x-axis in the body frame.

Single

411

Sway

[m]

MP2

Body

Linear position of the MP2 along the y-axis in the body frame.

Single

412

Heave

[m]

MP2

Body

Linear position of the MP2 along the z-axis in the body frame.

Single

413

SurgeVelocity

[m/s]

MP2

Body

Linear velocity of the MP2 along the x-axis in the body frame.

Single

414

SwayVelocity

[m/s]

MP2

Body

Linear velocity of the MP2 along the y-axis in the body frame.

Single

415

HeaveVelocity

[m/s]

MP2

Body

Linear velocity of the MP2 along the z-axis in the body frame.

Single

416

SurgeAcceleration

[m/s²]

MP2

Body

Linear acceleration of the MP2 along the x-axis in the body frame.

Single

417

SwayAcceleration

[m/s²]

MP2

Body

Linear acceleration of the MP2 along the y-axis in the body frame.

Single

418

HeaveAcceleration

[m/s²]

MP2

Body

Linear acceleration of the MP2 along the z-axis in the body frame.

Single

419

Surge

[m]

MP2

Heading

Linear position of the MP2 along the x-axis in the heading frame.

Single

420

Sway

[m]

MP2

Heading

Linear position of the MP2 along the y-axis in the heading frame.

Single

421

Heave

[m]

MP2

Heading

Linear position of the MP2 along the z-axis in the heading frame.

Single

422

SurgeVelocity

[m/s]

MP2

Heading

Linear velocity of the MP2 along the x-axis in the heading frame.

Single

423

SwayVelocity

[m/s]

MP2

Heading

Linear velocity of the MP2 along the y-axis in the heading frame.

Single

424

HeaveVelocity

[m/s]

MP2

Heading

Linear velocity of the MP2 along the z-axis in the heading frame.

Single

425

SurgeAcceleration

[m/s²]

MP2

Heading

Linear acceleration of the MP2 along the x-axis in the heading frame.

Single

426

SwayAcceleration

[m/s²]

MP2

Heading

Linear acceleration of the MP2 along the y-axis in the heading frame.

Single

427

HeaveAcceleration

[m/s²]

MP2

Heading

Linear acceleration of the MP2 along the z-axis in the heading frame.

Single

428

Latitude

[deg]

MP2

[-]

Latitude of the MP2.

Single

429

Longitude

[deg]

MP2

[-]

Longitude of the MP2.

Single

430

Altitude

[m]

MP2

[-]

Altitude of the MP2.

Single

431

UTM_Surge

[m]

MP2

[-]

UTM Surge position of the MP2.

Single

432

UTM_Sway

[m]

MP2

[-]

UTM Sway position of the MP2.

Single

433

UTM_Zone

[-]

MP2

[-]

UTM zone number of the MP2.

U32

434

SurgeAcceleration

[m/s²]

MP2

Body

Linear acceleration of the MP2 along the x-axis in the body frame incl. gravity

Single

435

SwayAcceleration

[m/s²]

MP2

Body

Linear acceleration of the MP2 along the y-axis in the body frame incl. gravity

Single

436

HeaveAcceleration

[m/s²]

MP2

Body

Linear acceleration of the MP2 along the z-axis in the body frameincl. Gravity

Single

501

MsgTimestamp

[us]

[-]

[-]

Parser data timestamp.

U32

502

IMUTimestamp

[us]

[-]

[-]

IMU timestamp in microseconds.

U32

503

IMUDelay

[us]

[-]

[-]

IMU delay in microseconds.

U32

504

IMUdt

[us]

[-]

[-]

IMU sampling time in microseconds.

U32

505

EpochTimestamp

[s]

[-]

[-]

Parser data timestamp in s since 12:00 a.m., January 1, 1904, UT

Double

506

PosixTimestamp s

[s]

[-]

[-]

Parser data timestamp in seconds since 12:00 a.m., January 1, 1970, UT

Double

507

SampleTime s

[s]

[-]

[-]

Parser data timestamp in seconds since 12:00 a.m., January 1, 1970, UT

I32

508

SampleTime ms

[ms]

[-]

[-]

Parser data timestamp in millisecond fraction since 12:00 a.m., January 1, 1970, UT

I32

509

SampleTime ns

[ns]

[-]

[-]

Parser data timestamp in nanosecond fraction since 12:00 a.m., January 1, 1970, UT

I32

510

MsgTimestamp ms

[ms]

[-]

[-]

Parser data timestamp in milliseconds

U32

511

ParserTimestamp

[us]

[-]

[-]

For internal use. Debugging. 

U32

512

StreamerTimestamp

[us]

[-]

[-]

For internal use. Debugging. 

U32

513

TotalIterationDuration

[us]

[-]

[-]

For internal use. Debugging. Duration of 1 complete iteration.

U32

514

ParserDuration

[us]

[-]

[-]

For internal use. Debugging. Duration of last parser step.

U32

515

StreamerDuration

[us]

[-]

[-]

For internal use. Debugging. Duration of last streamer step.

U32

516

PPS

[-]

[-]

[-]

PPS time sync activated.

U8

517

TimeLastPPS

[ms]

[-]

[-]

Time in ms since last PPS pulse.

U32

518

NoLostPPS

[-]

[-]

[-]

No lost PPS pulses since last ZDA message received.

U32

519

TimeLastZDA

[s]

[-]

[-]

Time in s since last valid ZDA message.

U32

601

GyroX

[rad/s]

[-]

MRU

X-axis gyroscope output.

Single

602

GyroY

[rad/s]

[-]

MRU

Y-axis gyroscope output.

Single

603

GyroZ

[rad/s]

[-]

MRU

Z-axis gyroscope output.

Single

604

AccX

[m/s²]

[-]

MRU

X-axis accelerometer output.

Single

605

AccY

[m/s²]

[-]

MRU

Y-axis accelerometer output.

Single

606

AccZ

[m/s²]

[-]

MRU

Z-axis accelerometer output.

Single

607

InclX

[m/s²]

[-]

MRU

X-axis inclinometer output.

Single

608

InclY

[m/s²]

[-]

MRU

Y-axis inclinometer output.

Single

609

InclZ

[m/s²]

[-]

MRU

Z-axis inclinometer output.

Single

610

IMU_CRC

[-]

[-]

[-]

IMU cycle redundancy check.

U8

611

IMUTimestamp

[us]

[-]

[-]

IMU timestamp in microseconds.

U32

612

IMU_CTS

[-]

[-]

[-]

IMU counter.

U32

613

IMUdt

[us]

[-]

[-]

IMU sampling time in microseconds.

U32

614

TempC

[degC]

[-]

[-]

IMU temperature.

Single

615

DeltaRoll

[rad]

[-]

MRU to NED

Delta roll angle in radians in the MRU to NED frame.

Single

616

DeltaPitch

[rad]

[-]

MRU to NED

Delta pitch angle in radians in the MRU to NED frame.

Single

617

DeltaYaw

[rad]

[-]

MRU to NED

Delta yaw angle in radians in the MRU to NED frame.

Single

618

DeltaSurgeVelocity

[m/s²]

[-]

MRU

Delta velocity for surge in the MRU frame.

Single

619

DeltaSwayVelocity

[m/s²]

[-]

MRU

Delta velocity for sway in the MRU frame.

Single

620

DeltaHeaveVelocity

[m/s²]

[-]

MRU

Delta velocity for heave in the MRU frame.

Single

701

MagX

[mGauss]

[-]

[-]

X-axis magnetometer output.

Single

702

MagY

[mGauss]

[-]

[-]

Y-axis magnetometer output.

Single

703

MagZ

[mGauss]

[-]

[-]

Z-axis magnetometer output.

Single

704

Mag_CRC

[-]

[-]

[-]

Magnetometer cycle redundancy check.

u8

705

MagTimestamp

[us]

[-]

[-]

Magnetometer timestamp in microseconds.

u32

706

Mag_CTS

[-]

[-]

[-]

Magnetometer counter.

u32

707

MagCalibratedX

[mGauss]

[-]

[-]

X-axis calibrated magnetometer output.

Single

708

MagCalibratedY

[mGauss]

[-]

[-]

Y-axis calibrated magnetometer output.

Single

709

MagCalibratedZ

[mGauss]

[-]

[-]

Z-axis calibrated magnetometer output.

Single

801

Latitude

[deg]

AID_1

[-]

Latitude at the AID 1 location.

Single

802

Longitude

[deg]

AID_1

[-]

Longitude at the AID 1 location.

Single

803

Elevation

[m]

AID_1

[-]

Elevation at the AID 1 location.

Single

804

Sigma_NE

[m²]

AID_1

[-]

Surge and Sway variance of the AID 1.

805

Sigma_H

[m²]

AID_1

[-]

Heading variance of the AID 1.

806

Offset_m_to_b_roll

[-]

AID_1

[-]

807

Offset_m_to_b_pitch

[-]

AID_1

[-]

808

Offset_m_to_b_yaw

[-]

AID_1

[-]

809

LocationSurge

[-]

AID_1

[-]

810

LocationSway

[-]

AID_1

[-]

811

LocationYaw

[-]

AID_1

[-]

812

CounterPosition

[-]

AID_1

[-]

Position aiding counter of the AID 1.

U32

813

ReadyPosition

[-]

AID_1

[-]

Status of the position aiding of the AID 1.

U8

814

SOG

[m/s]

AID_1

[-]

Speed over ground at AID 1 location.

Single

815

COG

[deg]

AID_1

[-]

Course over ground at AID 1 location.

Single

816

SigmaSOG

[m²]

AID_1

[-]

Speed over ground variance of the AID 1.

817

SigmaCOG

[m²]

AID_1

[-]

Course over ground variance of the AID 1.

818

Offset_m_to_b_roll

[-]

AID_1

[-]

819

Offset_m_to_b_pitch

[-]

AID_1

[-]

820

Offset_m_to_b_yaw

[-]

AID_1

[-]

821

LocationSurge

[-]

AID_1

[-]

822

LocationSway

[-]

AID_1

[-]

823

LocationYaw

[-]

AID_1

[-]

824

CounterSpeed

[-]

AID_1

[-]

Speed aiding counter of the AID 1.

U32

825

ReadySpeed

[-]

AID_1

[-]

Speed aiding status  of the AID 1.

U8

826

Heading

[deg]

AID_1

[-]

Heading at the AID 1 location.

Single

827

SigmaHeading

[m²]

AID_1

[-]

Heading variance of the AID 1.

828

CounterHeading

[-]

AID_1

[-]

Heading aiding counter  of the AID 1.

U32

829

ReadyHeading

[-]

AID_1

[-]

Heading status of the AID 1.

U8

830

CraneAidPayout

[m]

AID_1

[-]

Payout of crane wire in meters.

Single

831

CraneAidPayoutVelocity

[m/s]

AID_1

[-]

Payout velocity of crane wire in meters pr second.

Single

832

CraneAidCounter

[-]

AID_1

[-]

Counter for received crane wire pay out measurements.

U32

833

CraneAidReady

[-]

AID_1

[-]

Ready signal for crane wire pay out measurements.

U8

901

Latitude

[deg]

AID_2

[-]

Latitude at the AID 2 location.

Single

902

Longitude

[deg]

AID_2

[-]

Longitude at the AID 2 location.

Single

903

Elevation

[m]

AID_2

[-]

Elevation at the AID 2 location.

Single

904

Sigma_NE

[m²]

AID_2

[-]

Surge and Sway variance of the AID 2.

905

Sigma_H

[m²]

AID_2

[-]

Heading variance of the AID 2.

906

Offset_m_to_b_roll

[-]

AID_2

[-]

907

Offset_m_to_b_pitch

[-]

AID_2

[-]

908

Offset_m_to_b_yaw

[-]

AID_2

[-]

909

LocationSurge

[-]

AID_2

[-]

910

LocationSway

[-]

AID_2

[-]

911

LocationYaw

[-]

AID_2

[-]

912

CounterPosition

[-]

AID_2

[-]

Position aiding counter of the AID 2.

U32

913

ReadyPosition

[-]

AID_2

[-]

Status of the position aiding of the AID 2.

U8

914

SOG

[m/s]

AID_2

[-]

Speed over ground at AID 2 location.

Single

915

COG

[deg]

AID_2

[-]

Course over ground at AID 2 location.

Single

916

SigmaSOG

[(m/s)²]

AID_2

[-]

Speed over ground variance of the AID 2.

917

SigmaCOG

[deg²]

AID_2

[-]

Course over ground variance of the AID 2.

918

Offset_m_to_b_roll

[-]

AID_2

[-]

919

Offset_m_to_b_pitch

[-]

AID_2

[-]

920

Offset_m_to_b_yaw

[-]

AID_2

[-]

921

LocationSurge

[-]

AID_2

[-]

922

LocationSway

[-]

AID_2

[-]

923

LocationYaw

[-]

AID_2

[-]

924

CounterSpeed

[-]

AID_2

[-]

Speed aiding counter of the AID 2.

U32

925

ReadySpeed

[-]

AID_2

[-]

Speed aiding status  of the AID 2.

U8

926

Heading

[deg]

AID_2

[-]

Heading at the AID 2 location.

Single

927

SigmaHeading

[m²]

AID_2

[-]

Heading variance of the AID 2.

928

CounterHeading

[-]

AID_2

[-]

Heading aiding counter  of the AID 2.

U32

929

ReadyHeading

[-]

AID_2

[-]

Heading status of the AID 2.

U8

930

CraneAidPayout

[m]

AID_2

[-]

Payout of crane wire in meters.

Single

931

CraneAidPayoutVelocity

[m/s]

AID_2

[-]

Payout velocity of crane wire in meters pr second.

Single

932

CraneAidCounter

[-]

AID_2

[-]

Counter for received crane wire pay out measurements.

U32

933

CraneAidReady

[-]

AID_2

[-]

Ready signal for crane wire pay out measurements.

U8

1001

PeriodX

[s]

[-]

[-]

Estimated motion period along the x-axis.

Single

1002

PeriodY

[s]

[-]

[-]

Estimated motion period along the y-axis.

Single

1003

PeriodZ

[s]

[-]

[-]

Estimated motion period along the z-axis.

Single

1004

STATCondAcc

[-]

[-]

[-]

1005

STATCondGyro

[-]

[-]

[-]

1006

STATCondUse

[-]

[-]

[-]

1007

STATUS

[-]

[-]

[-]

Status bits, 32 bits (U32), for MRU health monitoring.

U32

1008

ValidGeoPos

[-]

[-]

[-]

Status of the GeoPos.

U8

1009

ValidState

[-]

[-]

[-]

Status of the state estimation.

U8

1010

AmplitudeX

[m]

[-]

[-]

Peak motion amplitude in x direction.

Single

1011

AmplitudeY

[m]

[-]

[-]

Peak motion amplitude in y direction.

Single

1012

AmplitudeZ

[m]

[-]

[-]

Peak motion amplitude in z direction.

Single

1091

STATUS_A

[-]

[-]

[-]

First and second bytes of the status bits 1007.

U16

1092

STATUS_B

[-]

[-]

[-]

Third and fourth bytes of the status bits 1007.

U16

1093

STATUS_1

[-]

[-]

[-]

First byte of the status bits 1007.

U8

1094

STATUS_2

[-]

[-]

[-]

Second byte of the status bits 1007.

U8

1095

STATUS_3

[-]

[-]

[-]

Third byte of the status bits 1007.

U8

1096

STATUS_4

[-]

[-]

[-]

Fourth byte of the status bits 1007.

U8

1101

FiltGyroX

[rad/s]

MRU

MRU

X-axis gyroscope output in the MRU frame (filtered).

Single

1102

FiltGyroY

[rad/s]

MRU

MRU

Y-axis gyroscope output in the MRU frame (filtered).

Single

1103

FiltGyroZ

[rad/s]

MRU

MRU

Z-axis gyroscope output in the MRU frame (filtered).

Single

1104

FiltAccX

[m/s²]

MRU

MRU

X-axis accelerometer output in the MRU frame (filtered).

Single

1105

FiltAccY

[m/s²]

MRU

MRU

Y-axis accelerometer output in the MRU frame (filtered).

Single

1106

FiltAccZ

[m/s²]

MRU

MRU

Z-axis accelerometer output in the MRU frame (filtered).

Single

1107

FiltGyroAccX

[rad/s]

MRU

MRU

X-axis gyroscope output in the MRU frame (filtered with acc cut off frequency).

Single

1108

FiltGyroAccY

[rad/s]

MRU

MRU

Y-axis gyroscope output in the MRU frame (filtered with acc cut off frequency).

Single

1109

FiltGyroAccZ

[rad/s]

MRU

MRU

Z-axis gyroscope output in the MRU frame (filtered with acc cut off frequency).

Single

1110

GyroVarX

[(rad/s)²]

MRU

MRU

X-axis gyroscope variance in the MRU frame (filtered with 10 s moving window).

Single

1111

GyroVarY

[(rad/s)²]

MRU

MRU

Y-axis gyroscope variance in the MRU frame (filtered with 10 s moving window).

Single

1112

GyroVarZ

[(rad/s)²]

MRU

MRU

Z-axis gyroscope variance in the MRU frame (filtered with 10 s moving window).

Single

1113

AccVarX

[(m/s²)²]

MRU

MRU

X-axis accelerometer variance in the MRU frame (filtered with 10 s moving window).

Single

1114

AccVarY

[(m/s²)²]

MRU

MRU

Y-axis accelerometer variance in the MRU frame (filtered with 10 s moving window).

Single

1115

AccVarZ

[(m/s²)²]

MRU

MRU

Z-axis accelerometer variance in the MRU frame (filtered with 10 s moving window).

Single

1201

MagCalX

[mgauss]

MRU

MRU

X-axis calibrated magnetometer output in the MRU frame (filtered).

Single

1202

MagCalY

[mgauss]

MRU

MRU

Y-axis calibrated magnetometer output in the MRU frame (filtered).

Single

1203

MagCalZ

[mgauss]

MRU

MRU

Z-axis calibrated magnetometer output in the MRU frame (filtered).

Single

1301

FiltAccBodyX

[m/s²]

MRU

Body

X-axis accelerometer output in the Body frame (filtered).

Single

1302

FiltAccBodyY

[m/s²]

MRU

Body

Y-axis accelerometer output in the Body frame (filtered).

Single

1303

FiltAccBodyZ

[m/s²]

MRU

Body

Z-axis accelerometer output in the Body frame (filtered).

Single

1304

MagneticHeading

[rad]

MRU

MRU to NED

Magnetic Heading of MRU in the MRU to NED frame.

Single

1305

MagneticHeading

[deg]

MRU

MRU to NED

Magnetic Heading of MRU in the MRU to NED frame.

Single

1306

DeltaRoll

[rad]

MRU

Body to NED

Delta roll angle in radians in the Body to NED frame.

Single

1307

DeltaPitch

[rad]

MRU

Body to NED

Delta pitch angle in radians in the Body to NED frame.

Single

1308

DeltaYaw

[rad]

MRU

Body to NED

Delta yaw angle in radians in the Body to NED frame.

Single

1309

DeltaSurgeVelocity

[m/s²]

MRU

Body

Delta velocity for surge in the Body frame.

Single

1310

DeltaSwayVelocity

[m/s²]

MRU

Body

Delta velocity for sway in the Body frame.

Single

1311

DeltaHeaveVelocity

[m/s²]

MRU

Body

Delta velocity for heave in the Body frame.

Single

1312

RateOfTurn

[rad/s]

MRU

Body

Rate of turn about  yaw axis.

Single

1313

PayOutHighPassFiltered

[m]

[-]

[-]

High pass filtered crane wire measurements.

Single

1314

Heave Crane Wire Corrected

[m]

MRU

NED

Heave corrected for crane wire payout in NED frame.

Single

1315

Heave Velocity Crane Wire Corrected

[m/s]

MRU

NED

Heave velocity corrected for crane wire payout in NED frame.

Single

1316

Heave HP filtered

[m]

MRU

NED

High pass filtered crane wire measurements.

Single

1401

TemperatureHT

[degC]

[-]

[-]

Temperature in the MRU casing.

Single

1402

HumidityHT

[%RH]

[-]

[-]

Humidity in the MRU casing.

Single

1403

TH Status

[%RH]

[-]

[-]

Status of humidity sensor.

Single

1404

MagneticHeading

[rad]

[-]

[-]

Magnetic heading in radians of MRU in the MRU to NED frame.

Single

1405

MagneticHeading

[deg]

[-]

[-]

Magnetic heading in degrees of MRU in the MRU to NED frame.

Single