[DefaultCom]
DefaultBaudrate=9600
DefaultParity=0
DefaultStopBits=1
DefaultDataBits=8

[General]
SyncMode=0					//Sync on terminator
SyncCount=1					//Sync lenght
SyncString=10				//Sync character is linefeed
DataRate=50					//Maximum expected data rate 50 Hz
TimeOut=5.0					//Maximum time out is 5 seconds
NumberOfMessages=2			//Number of messages difined in this file
MessageType=9				//Decoding methode formula

[Msg(0)]	
MsgMode=0					//Input message
ID=$PHTRO					//Message ID $PHTRH
IDStart=0					//start at char 0 
IDLength=6					//Id lenght 6 chacters

NewElement=0				//This message forwards the data block to the comps.
NumDataEntries=2

NormData(0).Entry=1
//NormData(0).Formula=Value(FindDel(",",3,var0))*Value(Map("T,B","1,-1",FindDel(",",4,FindDel("*",0,var0)))) //Roll
NormData(0).Formula=Asin(Sin(Value(FindDel(",",3,var0))*Value(Map("T,B","1,-1",FindDel(",",4,FindDel("*",0,var0)))))*Cos(Value(FindDel(",",1,var0))*Value(Map("P,M","1,-1",FindDel(",",2,var0)))))   //Roll converted from euler roll
NormData(0).Unit=Degrees (Port Up)
NormData(1).Entry=2
NormData(1).Formula=Value(FindDel(",",1,var0))*Value(Map("P,M","1,-1",FindDel(",",2,var0))) //Pitch
NormData(1).Unit=Degrees (Bow Down)


[Msg(1)]	
MsgMode=0					//Input message
ID=$PHLIN					//Message ID $PHTRH
IDStart=0					//start at char 0 
IDLength=6					//Id lenght 6 chacters

NewElement=1				//This message forwards the data block to the comps.
NumDataEntries=1

NormData(0).Entry=0
NormData(0).Formula=Value(FindDel(",",3,FindDel("*",0,var1))) //Heave
NormData(0).Unit=Meters

[Attribs]
// attributes for cube
@tr.dev.SDEVOffset= 1,0.02
@tr.dev.SDEVRollPitch = 1,0.01
@tr.dev.SDEVHeading = 1,0.01
@tr.dev.SDEVVRULattency = 1,0.0
@tr.dev.SDEVFixHeave = 1,0.05
@tr.dev.SDEVDynHeave = 1,5
@tr.dev.SDEVRoll = 1,0.01
@tr.dev.SDEVPitch = 1,0.01
//end cube
@tr.dev.TimeDelay = 1, 0.0
@tr.dev.DeviceOffset = 1, 1,1,Zero Offset,1,1,1,1,0.0,0.0,0.0
@tr.dev.HdgCor = 1, 0.0
@tr.dev.RollCor = 1, 0.0
@tr.dev.PitchCor = 1, 0.0
@tr.dev.HeaveCor = 17, 0.0
@tr.dev.HeaveDelay = 1, 0.0
@tr.dev.LinkCompsFromDevice = 19, 0
@tr.dev.GapCheckEnable = 1, 1
@tr.dev.MaxGapTime = 1, 1
@tr.dev.SDEParam=3,0
@tr.dev.OrderInfo = @L0,TimeDelay,DeviceOffset,RollCor,PitchCor,HeaveDelay,@L0,GapCheckEnable,@L1,MaxGapTime,@L0,SDEParam,@L1,SDEVOffset,SDEVRollPitch,SDEVHeading,SDEVFixHeave,SDEVDynHeave,SDEVRoll,SDEVPitch