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Driver to decode the absolute or relative positioning message from an iXSea GAPS (Global Acoustic Positioning System), a fully integrated (INS and GPS) portable USBL system.

Two versions of the driver are available: a Serial version and a Network version (UDP). The internal workings of the drivers are the same except for the data reception.

This section will describe how to decode the relative positioning message.
To decode the absolute positioning message, see the 12 - iXSea GAPS ($PTSAG Message)

Take careful notice of the explanation about entering slot numbers in your template database setup, see tab page Qinsy Config.