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.