[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 = Start of message
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 methode 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=6
//No heave available so set to zero
NormData(0).Entry=0
NormData(0).Formula=0	//Heave. not in message
//Roll & Pitch type short in units of 180°x2^-15
NormData(1).Entry=1
NormData(1).Formula=(BinValue(GetSubStr(var0,20,2),2)*0.0054931640625)	//Roll
NormData(1).Unit=Degrees (Port Up)
NormData(2).Entry=2
NormData(2).Formula=-(BinValue(GetSubStr(var0,22,2),2)*0.0054931640625)	//Pitch
NormData(2).Unit=Degrees (Bow Down)
///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(3).Entry=3
NormData(3).Formula=ExpandTime((BinValue(GetSubStr(var0,84,4),8)*0.00006103515625)*1000) // UTC Time in message

// ---------------------------------------------------------------------------------------------------------------------
// PDS status modes and MiniPos3 mapping
//0 No aiding,													-0x00 Idle, 0x07 Doppler Log Align - not complete, 0x08, 0x0A
//1 (H)Heading aided mode - Settled condition,					
//2 (h)Heading aiding mode - Settling,
//3 (F)Full aided mode - Settled condition,						-0x09 Aided Navigation
//4 (f)Full aided mode - Settling,
//5 (u)Cource leveling Mode,									-0x01, 0x04 Coarse Stationary Align
//6 (h)Cource Heading and AHRS Fine Align Mode,
//7 (g)INS Fine Alignment Mode with GPS input,					
//8 (G)INS Ready mode with valid input,
//9 (H)AHRS Ready Mode without GPS input,
//10 (f)GPS drop-out or invalid during INS Fine Aligment Mode,
//11 (U)Unaided mode - Settled condition,						-0x03 Fine Stationary Align - complete
//12 (u)Unaided mode - Settling,								-0x02 Fine Stationary Align - not complete
//13 (G)GPS aided mode - Settled condition,						-0x06 Fine GPS Align - complete
//14 (g)GPS aided mode - Settling,								-0x05 Fine GPS Align - not complete
//15 (F)GPS drop-out or invalid during INS Ready Mode
// ---------------------------------------------------------------------------------------------------------------------

NormData(4).Entry=7
//System mode
NormData(4).Formula=Value(Map("0,1,2,3,4,5,6,7,8,9,10","0,5,12,11,5,14,13,0,0,3,0",FtoS(BinValue(GetSubStr(var0,4,1),1),0)))		//System mode
NormData(5).Entry=8
NormData(5).Formula=0			// Dynamic delay place holder

[Attribs]
UserAttribs=1
@tr.dev.TimeStampMode = 1, 2			//default=time in message
@tr.dev.TimeDelay = 1, 0.0
@tr.dev.ExtTimeSource = 1,1,1,2007,1,0
@tr.dev.DeviceOffset = 1, 1,1,Zero Offset,1,1,1,1,0.0,0.0,0.0
@tr.dev.RollCor = 1, 0.0
@tr.dev.PitchCor = 1, 0.0
@tr.dev.LinkCompsFromDevice = 19, 0
@tr.dev.GapCheckEnable = 1, 1
@tr.dev.MaxGapTime = 1, 1
@tr.dev.OrderInfo = @L0,TimeStampMode,@L1,TimeDelay,ExtTimeSource,@L0,LinkCompsFromDevice,DeviceOffset,RollCor,PitchCor,@L0,GapCheckEnable,@L1,MaxGapTime