Drivers Manual

Description

Driver to be used to decode roll-pitch-heave observations from motion reference units outputting data in the Simrad EM1000 or EM3000 format.

Driver Information

Driver	OISTAR Simrad EM1000/3000 Simrad EM1000/3000	Interface Type	Serial	Driver Class Type	Counted
UTC Driver	No	Input / Output	Input	Executable	DrvSimradMRU.exe
Related Systems	Page: OISTAR Simrad EM1000 (Heading) - 05 — Gyro Compass Page: OISTAR Simrad EM1000 R-P-H - 03 — Pitch Roll Heave Sensor Page: OISTAR Simrad EM3000 (Heading) - 05 — Gyro Compass Page: OISTAR Simrad EM3000 R-P-H - 03 — Pitch Roll Heave Sensor Page: Simrad EM1000 (Heading) - 05 — Gyro Compass Page: Simrad EM1000 R-P-H - 03 — Pitch Roll Heave Sensor Page: Simrad EM3000 (Heading) - 05 — Gyro Compass Page: Simrad EM3000 R-P-H - 03 — Pitch Roll Heave Sensor
Related Pages

Decoding Notes

For both message types the status field is used to set the quality indicator.
For the EM1000 message the quality indicator is set to 1.00 when a 00h byte is encountered and a --1.00 if any other bytes is encountered.
For the EM3000 message the quality indicator is set using the following table:

Status Byte	Quality Indicator
90h	1.00
91h – 9Fh	+1.10 to +2.50 (step size 0.10)
A0h - AFh	-1.00 to -2.50 (step size 0.10)
Other	-1.00

Drivers IO Notes

Command line parameters "EM1000" and "EM3000" indicate the message type as being decoded.
"OI" indicates that the time tags are obtained from preceding "OiSTAR" headers, if available.
Otherwise the first incoming byte is time tagged.