INSPVACMP

Compressed version of the INSPVA log for CAN

Platform: 

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S

This log contains the INSPVA log information compressed as a NMEA 2000 fast packet message for CAN output. The PGN of this message is configured using the PGNCONFIG command. The information in the table below is the data portion of the INSPVACMP NMEA 2000 message. Refer to the NATIONAL MARINE ELECTRONICS ASSOCIATION (NMEA) NMEA2000(r) rev 2.0 - January/2013 document for full details on this message output and the NMEA 2000 fast packet protocol.

Message ID: 1889

Log Type: Synch

Abbreviated ASCII Syntax:

LOG CCOM1 INSPVACMP ONTIME 1

Field

Field Type

Description

Format

Binary Bytes

Units

Scale Factor

1

Message Time

Seconds from week start

Ulong

4

seconds

0.001

2

INS Status

INS solution status (see Table: Inertial Solution Status)

UChar

1

N/A

N/A

3

GNSS Position Type

GNSS position type (see Table: Position or Velocity Type)

UChar

1

N/A

N/A

4

Latitude

Latitude (WGS84)

5 byte Long

5

degrees

180/239

5

Longitude

Longitude (WGS84)

5 byte Long

5

degrees

180/239

6

Height

Ellipsoidal Height (WGS84)

Long

4

metres

0.0001

7

North Velocity

Velocity in a northerly direction (a negative value implies a southerly direction)

Short

2

m/s

0.002

8

East Velocity

Velocity in an easterly direction (a negative value implies a westerly direction)

Short

2

m/s

0.002

9

Up Velocity

Velocity in an up direction

Short

2

m/s

0.002

10

Roll

Right-handed rotation from local level around y axis

Short

2

degrees

0.01

11

Pitch

Right-handed rotation from local level around x axis

Short

2

degrees

0.01

12

Azimuth

Left-handed rotation around z-axis clockwise from North

This is the inertial azimuth calculated from the IMU gyros and the SPAN filters.

Ushort

2

degrees

0.01

13

Azimuth Rate

Rate of change of the Azimuth

Short

2

degrees/s

0.01