$USRTH Receiver-Transmitter Relative Angles Message
Example $USRTH message:
$USRTH,358.5,1.5,2.8,142.8,52.8,37.2,2.8,
-0.6,1.9,178.1,271.9,16,T,T,1,3313,B,-2,-2*4B
Format: $USRTH,ab,ac,ae,sr,tb,cb,te,er,ep,ey,ch,db,ah,ag,ls,im,oc,idx,idq*hh
ab: apparent bearing (azimuth) to transmitter in Math degrees [Note 1, 4]
ac: apparent bearing to transmitter in Compass degrees [Note 1, 4]
ae: apparent elevation to transmitter in degrees [Note 1]
sr: slant range to transmitter in meters [Note 1]
tb: true bearing (azimuth) to transmitter in Math degrees [Note 2, 4]
cb: true bearing to transmitter in Compass degrees [Notes 1, 4]
te: true elevation to transmitter in degrees [Note 2]
er: Euler roll angle of sensor frame, in degrees [Note 3]
ep: Euler pitch angle of sensor frame, in degrees [Note 3]
ey: Euler yaw (heading) angle of sensor frame, in degrees [Note 3, 4]
ch: compass heading [Notes 3, 4]
db: Analog AGC gain, in decibels (range 16 – 82)
ah: CPU hardware supports autosync (also needs GNSS hardware) [Note 5]
ag: GNSS hardware support autosync is present [Note 5]
ls: Seconds since last autosync or distance sync command [Note 5]
im: IMU status string (four digits 0..3) [Note 5]
oc: Operating channel: “B” if Mk II hardware AND autosync installed AND set to channel B; else “A” [Note 6]
idx: Transmitter/Transponder ID decoded [Note 7, 8]
idq: Transmitter/Transponder ID queried [Note 7, 9]
hh: NMEA-style hex checksum, always the last field and following the asterisk
Note 1: this field will be empty if receiver is not locked on transmitter
Note 2: this field will be empty if receiver is not locked on transmitter or IMU data is not valid
Note 3: this field will be empty if IMU data is not valid
Note 4: See section on “Compass” vs. “Math” angles
Note 5: These fields appended March 2021; not present in earlier firmware releases
Note 6: [IDs are a deprecated feature as of 1/1/25] Field appended August 2021; not present in earlier firmware releases
Note 7: [IDs are a deprecated feature as of 1/1/25] Field appended December 2022; not present in earlier firmware releases
Note 8: [IDs are a deprecated feature as of 1/1/25] if -2, no ID was detected to be appended to the transmitter/transponder's ping. If -1, an ID was detected to be appended to the transmitter/transponder's ping but it was an invalid pattern. Otherwise, if 0..15 an ID was decoded. This is primarily a Mk III feature, but Mk III transmitters are also capable of appending an ID to their pings.
Note 9: If -2, the receiver is not a Mk III unit (and thus does not send query pings), or the transceiver is a Mk III and no ID was appended to the query ping. Otherwise, if 0..15 that ID was appended to the interrogation ping.
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