[DefaultCom]
DefaultBaudrate=38400
DefaultParity=0
DefaultStopBits=1
DefaultDataBits=8
// To ensure serial comms are achievable

[General]
SyncMode=1
SyncCount=2
SyncString=189,219				//Synch on 0xBD,0xDB
DataRate=50					//Maximum expected data rate 50 Hz
TimeOut=5.0					//Maximum time out is 5 seconds
NumberOfMessages=1				//Number of messages defined in this file
MessageType=9					//Decoding method formula


[Msg(0)]	
// ---------------------------------------------------------------------------------------------------------------------
// CDL MiniPos3 USBL1 message
//
//Byte	Description	Units	Format
//0 – 1	0xBD, 0xDB Header – start of message	 	
//2	0x01 – Message ID (needed in case we extend the data output from the MiniPOS)	 	
//3 	Length of message – fixed at 100	 	BYTE
//4	System Mode (see note 1)		Coded Hexadecimal
//5	Navigation Monitor (see note 2)		Binary Discretes
//6 – 9	Latitude – needed for UTM	180° * 2-31	
//10 - 13	Longitude – needed for UTM	180° * 2-31	
//14 - 17	Depth	0.01m	S32
//18-19	Height	0.01m	U16
//20-21	Roll	180° * 2-15	S16
//22-23	Pitch	180° * 2-15	S16
//24-25	Heading	180° * 2-15	U16
//26-27	North Velocity	2-10 m/s	S16
//28-29	East Velocity	2-10 m/s	S16
//30-31	Down Velocity	2-10 m/s	S16
//32-33	Vehicle X acceleration	2-10 m/s	S16
//34-35	Vehicle Y acceleration	2-10 m/s	S16
//36-37	Vehicle Z acceleration	2-10 m/s	S16
//38-39	Rate of roll	2-13 Radians	S16
//40-41	Rate of pitch	2-13 Radians	S16
//42-43	Rate of heading	2-13 Radians	S16
//44-47	X Position s (m)		Float 32
//48-51	Y Position s (m)		Float 32
//52-55	Z Position s (m)		Float 32
//56-59	X Velocity s (m/s)		Float 32
//60-63	Y Velocity s (m/s)		Float 32
//64-67	Z Velocity s (m/s)		Float 32
//68-71	Input Latitude	180° * 2-31	Float 32
//72-75	Input Longitude	180° * 2-31	Float 32
//76-79	Input Depth (see note 6)	0.01 m	S32
//80-81	Salinity/Speed of Sound Data  (see note 1, USBL  position and control input below)	0.01 ppt / 0.03 m/s	U16
//82-83	Position Quality	0.01 m	U16
//84-87	UTC Data	2-14 seconds	U32
//88-91	Control Data (see note 4, USBL  position and control input below)		
//92	Input Data Validity Logicals (see note 3) 		Binary Discretes
//93	Mode Control Logicals (see note 4)		Binary Discretes
//94	Observation Reject Byte (see note 5)		Binary Discretes
//95-96	Cycles since last valid position update (see note 7)		U16
//97	Checksum XOR of bytes 2 to 94 inclusive		BYTE
//98-99	0xDB, 0xBD Header – end of message		
//			
//1 System Mode
//Mode	System Mode
//0x00	Idle
//0x01	Coarse Stationary Align
//0x02	Fine Stationary Align – not complete
//0x03	Fine Stationary Align – complete
//0x04	Coarse Stationary Align
//0x05	Fine GPS Align – not complete
//0x06	Fine GPS Align – complete
//0x07	Doppler/EM Log Align – not complete
//0x08	N/A
//0x09	Aided Navigation
//0x0A	System Failure
// ---------------------------------------------------------------------------------------------------------------------
NewElement=1				//This message forwards the data block to the comps.
NumDataEntries=3
// Heading as unsigned short in units of 180°x2^-15
NormData(0).Entry=0
NormData(0).Formula=(BinValue(GetSubStr(var0,24,2),7)*0.0054931640625)	// Heading
// Given Time of Obs Time float in units of 10-14 seconds. If no time supplied to unit field is all zeros. Note Expand time expects milliseconds
NormData(1).Entry=2
NormData(1).Formula=ExpandTime((BinValue(GetSubStr(var0,84,4),8)*0.00006103515625)*1000) // UTC Time in message
//No heading error available so set to zero
NormData(2).Entry=3
NormData(2).Formula=0	// Heading error not in message

[Attribs]
UserAttribs = 1
@tr.dev.TimeStampMode = 1, 2
@tr.dev.TimeDelay = 1, 0.0
@tr.dev.ExtTimeSource = 1,1,1,2007,1,0
@tr.dev.HdgCor = 1, 0.0
@tr.dev.LinkCompsFromDevice = 19, 0
@tr.dev.GapCheckEnable = 1, 1
@tr.dev.MaxGapTime = 1, 5
@tr.dev.OrderInfo = @L0,TimeStampMode,@L1,TimeDelay,ExtTimeSource,@L0,HdgCor,GapCheckEnable,@L1,MaxGapTime