Description

This driver is used to decode the iXSEA / iXBlue proprietary NMEA message which starts with $PHOCT.

This message is outputted by the iXSEA / iXBlue:

• Octans - Motion & Heading
• HydrINS
• PHINS
• LandINS
• RovINS

Motion and heading are decoded depending on the selected/entered slot value(s).

Apart from the Motion: roll, pitch, heave and Heading observations the driver decodes the following additional (miscellaneous) observations:

• surge
• sway
• heave
• speed
• surge
• speed 
• sway speed

The additional observations are decoded by a Miscellaneous System.

The Heave for the TAH message can also be used as an alternative depth source when using a Fall Pipe ROV.