# ATTITUDE\_REPORT

### ID: 504

### Payload Definition

<table><thead><tr><th width="188">Data Type</th><th width="164">Name</th><th>Description</th></tr></thead><tbody><tr><td>vec3</td><td>up_vec</td><td>world up vector (x,y,z) in the device coordinate system (x forward, y port, z up).</td></tr><tr><td>vec3</td><td>reserved</td><td>reserved for future magnetic field vector</td></tr><tr><td>u64</td><td>utc_msec</td><td>utc msec (1970 epoc). Will be 0 if not available.</td></tr><tr><td>u32</td><td>pwr_up_msec</td><td>msec since power up </td></tr></tbody></table>

To compute pitch and roll from the up\_vec (assuming cable end of Surveyor is aft):

Pitch (positive bow up) = asin(up\_vec.x);

Roll (positive port side up) = atan2(up\_vec.y, up\_vec.z);

We may support a calibrated magnetic vector in the future, but currently a heading signal from another source is required.&#x20;


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.ceruleansonar.com/c/surveyor-240-16/application-programming-interface/attitude_report.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.