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Acoustic Networking.html
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<title>Acoustic Networking Messages — IMC v5.4.11 Specification</title>
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<div class="document">
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<div class="body">
<div class="section" id="acoustic-networking-messages">
<h1>Acoustic Networking Messages<a class="headerlink" href="#acoustic-networking-messages" title="Permalink to this headline">¶</a></h1>
<div class="section" id="lbl-range">
<span id="lblrange"></span><h2>LBL Range<a class="headerlink" href="#lbl-range" title="Permalink to this headline">¶</a></h2>
<p>When the vehicle uses Long Base Line navigation, this message
notifies that a new range was received from one of the acoustics
transponders. The message fields are used to identify the range
value and the transponder name.</p>
<ul class="simple">
<li>Abbreviation: LblRange</li>
<li>Identification Number: 200</li>
<li>Payload Size: 5 bytes</li>
<li>Message Size: 27 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="21%" />
<col width="10%" />
<col width="4%" />
<col width="6%" />
<col width="44%" />
<col width="14%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Beacon Identification Number</td>
<td>id</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>Identification number of the acoustic transponder from which
the range information was received.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Range</td>
<td>range</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Distance to the acoustic transponder.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="lbl-beacon-configuration">
<span id="lblbeacon"></span><h2>LBL Beacon Configuration<a class="headerlink" href="#lbl-beacon-configuration" title="Permalink to this headline">¶</a></h2>
<p>Position and configuration of an LBL transponder (beacon).</p>
<ul class="simple">
<li>Abbreviation: LblBeacon</li>
<li>Identification Number: 202</li>
<li>Payload Size: 25+ bytes</li>
<li>Message Size: 47+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="18%" />
<col width="15%" />
<col width="6%" />
<col width="9%" />
<col width="32%" />
<col width="20%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Beacon Name</td>
<td>beacon</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Name/Label of the acoustic transponder.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Latitude WGS-84</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Latitude coordinate.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-even"><td>Longitude WGS-84</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Longitude coordinate.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Depth</td>
<td>depth</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>The beacon’s depth.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Interrogation channel</td>
<td>query_channel</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>Interrogation channel.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Reply channel</td>
<td>reply_channel</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>Reply channel.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Transponder delay</td>
<td>transponder_delay</td>
<td><em>ms</em></td>
<td>uint8_t</td>
<td>Transponder delay.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="lbl-configuration">
<span id="lblconfig"></span><h2>LBL Configuration<a class="headerlink" href="#lbl-configuration" title="Permalink to this headline">¶</a></h2>
<p>Long Base Line configuration.</p>
<ul class="simple">
<li>Abbreviation: LblConfig</li>
<li>Identification Number: 203</li>
<li>Payload Size: 3+ bytes</li>
<li>Message Size: 25+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="9%" />
<col width="18%" />
<col width="13%" />
<col width="40%" />
<col width="13%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Operation</td>
<td>op</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#lblconfig-enum-op"><span class="std std-ref">Enum Operation</span></a>)</td>
<td>uint8_t</td>
<td>Used to define the type of the operation this message holds.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Beacons</td>
<td>beacons</td>
<td><em>-</em></td>
<td>message-list
(<a class="reference internal" href="#lblbeacon"><span class="std std-ref">LBL Beacon Configuration</span></a>)</td>
<td>A list of LBL beacon configuration messages.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-operation">
<span id="lblconfig-enum-prefix-op"></span><span id="lblconfig-enum-op"></span><h3>Enum Operation<a class="headerlink" href="#enum-operation" title="Permalink to this headline">¶</a></h3>
<p>Used to define the type of the operation this message holds.</p>
<ul class="simple">
<li>Abbreviation: op</li>
<li>Prefix: OP</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="25%" />
<col width="12%" />
<col width="57%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Set LBL Configuration</td>
<td>SET_CFG</td>
<td>Set the beacons configuration aboard the vehicle.</td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Retrieve LBL Configuration</td>
<td>GET_CFG</td>
<td>Request the vehicle to send its current beacons configuration.</td>
</tr>
<tr class="row-even"><td>2</td>
<td>Reply to a GET command</td>
<td>CUR_CFG</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="acoustic-message">
<span id="acousticmessage"></span><h2>Acoustic Message<a class="headerlink" href="#acoustic-message" title="Permalink to this headline">¶</a></h2>
<p>Send an acoustic message.</p>
<ul class="simple">
<li>Abbreviation: AcousticMessage</li>
<li>Identification Number: 206</li>
<li>Payload Size: 2+ bytes</li>
<li>Message Size: 24+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="20%" />
<col width="17%" />
<col width="7%" />
<col width="11%" />
<col width="21%" />
<col width="24%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Message to send</td>
<td>message</td>
<td><em>-</em></td>
<td>message</td>
<td>Message to send.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="acoustic-operation">
<span id="acousticoperation"></span><h2>Acoustic Operation<a class="headerlink" href="#acoustic-operation" title="Permalink to this headline">¶</a></h2>
<p>Acoustic operation.</p>
<ul class="simple">
<li>Abbreviation: AcousticOperation</li>
<li>Identification Number: 211</li>
<li>Payload Size: 9+ bytes</li>
<li>Message Size: 31+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="9%" />
<col width="23%" />
<col width="7%" />
<col width="38%" />
<col width="13%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Operation</td>
<td>op</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#acousticoperation-enum-op"><span class="std std-ref">Enum Operation</span></a>)</td>
<td>uint8_t</td>
<td>Operation type.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>System</td>
<td>system</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The meaning of this field depends on the operation and is
explained in the operation’s description.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Range</td>
<td>range</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>The meaning of this field depends on the operation and is
explained in the operation’s description.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Message To Send</td>
<td>msg</td>
<td><em>-</em></td>
<td>message</td>
<td>Argument for message send (‘MSG’) requests.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="acousticoperation-enum-prefix-aop">
<span id="acousticoperation-enum-op"></span><span id="id1"></span><h3>Enum Operation<a class="headerlink" href="#acousticoperation-enum-prefix-aop" title="Permalink to this headline">¶</a></h3>
<p>Operation type.</p>
<ul class="simple">
<li>Abbreviation: op</li>
<li>Prefix: AOP</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="6%" />
<col width="24%" />
<col width="12%" />
<col width="59%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Abort</td>
<td>ABORT</td>
<td>Send an abort through the acoustic channel to the system
specified in the field ‘system’.</td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Abort in Progress</td>
<td>ABORT_IP</td>
<td>The latest abort request to the system specified in the
field ‘system’ is in progress.</td>
</tr>
<tr class="row-even"><td>2</td>
<td>Abort Timeout</td>
<td>ABORT_TIMEOUT</td>
<td>The latest abort operation expired without acknowledgment
from the system specified in the field ‘system’.</td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Abort Acknowledged</td>
<td>ABORT_ACKED</td>
<td>The latest abort operation was acknowledged by the system
specified in the field ‘system’.</td>
</tr>
<tr class="row-even"><td>4</td>
<td>Range Request</td>
<td>RANGE</td>
<td>Request a range through the acoustic channel to the system
specified in the field ‘system’.</td>
</tr>
<tr class="row-odd"><td>5</td>
<td>Range in Progress</td>
<td>RANGE_IP</td>
<td>The latest range request to the system specified in the
field ‘system’ is in progress.</td>
</tr>
<tr class="row-even"><td>6</td>
<td>Range Timeout</td>
<td>RANGE_TIMEOUT</td>
<td>The latest range request operation expired without reply
from the system specified in the field ‘system’.</td>
</tr>
<tr class="row-odd"><td>7</td>
<td>Range Received</td>
<td>RANGE_RECVED</td>
<td>The latest range request operation to the system specified
in the field ‘system’ was successful and the range is
specified in the field ‘range’.</td>
</tr>
<tr class="row-even"><td>8</td>
<td>Modem is Busy</td>
<td>BUSY</td>
<td>The acoustic modem is busy and cannot execute the requested
operation.</td>
</tr>
<tr class="row-odd"><td>9</td>
<td>Unsupported operation</td>
<td>UNSUPPORTED</td>
<td>The latest requested operation is not supported.</td>
</tr>
<tr class="row-even"><td>10</td>
<td>Transducer Not Detected</td>
<td>NO_TXD</td>
<td>The transducer was not detected.</td>
</tr>
<tr class="row-odd"><td>11</td>
<td>Send Message</td>
<td>MSG</td>
<td>Request message over acoustic channel. The message to send
is specified by the ‘msg’ field.</td>
</tr>
<tr class="row-even"><td>12</td>
<td>Message Send – Queued</td>
<td>MSG_QUEUED</td>
<td>Message send request has been queued.</td>
</tr>
<tr class="row-odd"><td>13</td>
<td>Message Send – In progress</td>
<td>MSG_IP</td>
<td>Message send request is in progress.</td>
</tr>
<tr class="row-even"><td>14</td>
<td>Message Send – Done</td>
<td>MSG_DONE</td>
<td>Message send request has been fulfilled.</td>
</tr>
<tr class="row-odd"><td>15</td>
<td>Message Send – Failure</td>
<td>MSG_FAILURE</td>
<td>Message send request could not be fulfilled.</td>
</tr>
<tr class="row-even"><td>16</td>
<td>Send Short Message</td>
<td>MSG_SHORT</td>
<td>Request message over acoustic channel. The message to send
is specified by the ‘msg’ field.</td>
</tr>
<tr class="row-odd"><td>17</td>
<td>Initiate Reverse Range</td>
<td>REVERSE_RANGE</td>
<td>Request sending updated position to remote system so it can be ranged.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="acoustic-systems-query">
<span id="acousticsystemsquery"></span><h2>Acoustic Systems Query<a class="headerlink" href="#acoustic-systems-query" title="Permalink to this headline">¶</a></h2>
<p>Request a list of known underwater acoustic systems. The
recipient of this message shall reply with an AcousticSystems
message.</p>
<ul class="simple">
<li>Abbreviation: AcousticSystemsQuery</li>
<li>Identification Number: 212</li>
<li>Payload Size: 0 bytes</li>
<li>Message Size: 22 bytes</li>
</ul>
<p>This message has no fields.</p>
</div>
<div class="section" id="acoustic-systems">
<span id="acousticsystems"></span><h2>Acoustic Systems<a class="headerlink" href="#acoustic-systems" title="Permalink to this headline">¶</a></h2>
<p>This message is sent in reply to an AcousticSystemsQuery message
and lists all known underwater acoustic systems (modems, narrow
band transponders, etc).</p>
<ul class="simple">
<li>Abbreviation: AcousticSystems</li>
<li>Identification Number: 213</li>
<li>Payload Size: 2+ bytes</li>
<li>Message Size: 24+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="12%" />
<col width="7%" />
<col width="9%" />
<col width="45%" />
<col width="17%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>System List</td>
<td>list</td>
<td><em>List</em></td>
<td>plaintext</td>
<td>Comma separated list of known acoustic system names.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="acoustic-link-quality">
<span id="acousticlink"></span><h2>Acoustic Link Quality<a class="headerlink" href="#acoustic-link-quality" title="Permalink to this headline">¶</a></h2>
<p>This message is used to report the perceived link quality to other
acoustic peers.</p>
<ul class="simple">
<li>Abbreviation: AcousticLink</li>
<li>Identification Number: 214</li>
<li>Payload Size: 8+ bytes</li>
<li>Message Size: 30+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="22%" />
<col width="9%" />
<col width="4%" />
<col width="7%" />
<col width="46%" />
<col width="12%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Peer Name</td>
<td>peer</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The name of the peer on the other side of this link.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Received Signal Strength Indicator</td>
<td>rssi</td>
<td><em>dB</em></td>
<td>fp32_t</td>
<td>RSSI is a signed floating point number. Higher RSSI values correspond to
stronger signals.
The signal strength is acceptable when measured RSSI values lie between
-20 dB and -85 dB.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Signal Integrity Level</td>
<td>integrity</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td>Signal Integrity value illustrates distortion of the last received
acoustic signal. It is calculated based on cross-correlation
measurements.
Higher <em>Signal Integrity Level</em> values correspond to less distorted
signals. An acoustic link is considered weak if the <em>Signal Integrity
Level</em> value is less than 100.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="acoustic-transmission-request">
<span id="acousticrequest"></span><h2>Acoustic Transmission Request<a class="headerlink" href="#acoustic-transmission-request" title="Permalink to this headline">¶</a></h2>
<p>Request Acoustic sending.</p>
<ul class="simple">
<li>Abbreviation: AcousticRequest</li>
<li>Identification Number: 215</li>
<li>Payload Size: 19+ bytes</li>
<li>Message Size: 41+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="10%" />
<col width="7%" />
<col width="18%" />
<col width="5%" />
<col width="50%" />
<col width="10%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Request Identifier</td>
<td>req_id</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Destination System</td>
<td>destination</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>The name of the system where to send this message.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Timeout</td>
<td>timeout</td>
<td><em>s</em></td>
<td>fp64_t</td>
<td>Period of time to send message (in seconds).</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Range</td>
<td>range</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>The meaning of this field depends on the operation and is
explained in the operation’s description.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Type</td>
<td>type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#acousticrequest-enum-type"><span class="std std-ref">Enum Type</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Message To Send</td>
<td>msg</td>
<td><em>-</em></td>
<td>message</td>
<td>Argument for message send (‘MSG’) or (‘RAW’) but in this case expects DevDataBinary message requests.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-type">
<span id="acousticrequest-enum-prefix-type"></span><span id="acousticrequest-enum-type"></span><h3>Enum Type<a class="headerlink" href="#enum-type" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: type</li>
<li>Prefix: TYPE</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="14%" />
<col width="30%" />
<col width="30%" />
<col width="26%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Abort</td>
<td>ABORT</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Range</td>
<td>RANGE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Reverse Range</td>
<td>REVERSE_RANGE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Message</td>
<td>MSG</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>4</td>
<td>Raw</td>
<td>RAW</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="acoustic-transmission-status">
<span id="acousticstatus"></span><h2>Acoustic Transmission Status<a class="headerlink" href="#acoustic-transmission-status" title="Permalink to this headline">¶</a></h2>
<p>Reply sent in response to a Acoustic Text sending request.</p>
<ul class="simple">
<li>Abbreviation: AcousticStatus</li>
<li>Identification Number: 216</li>
<li>Payload Size: 10+ bytes</li>
<li>Message Size: 32+ bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="12%" />
<col width="9%" />
<col width="23%" />
<col width="7%" />
<col width="37%" />
<col width="12%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Request Identifier</td>
<td>req_id</td>
<td><em>-</em></td>
<td>uint16_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Type</td>
<td>type</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#acousticstatus-enum-type"><span class="std std-ref">Enum Type</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Status</td>
<td>status</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#acousticstatus-enum-status"><span class="std std-ref">Enum Status</span></a>)</td>
<td>uint8_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Information</td>
<td>info</td>
<td><em>-</em></td>
<td>plaintext</td>
<td>Status description.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Range</td>
<td>range</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>The meaning of this field depends on the operation and is
explained in the operation’s description.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="acousticstatus-enum-prefix-type">
<span id="acousticstatus-enum-type"></span><span id="id2"></span><h3>Enum Type<a class="headerlink" href="#acousticstatus-enum-prefix-type" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: type</li>
<li>Prefix: TYPE</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="14%" />
<col width="30%" />
<col width="30%" />
<col width="26%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Abort</td>
<td>ABORT</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Range</td>
<td>RANGE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Reverse Range</td>
<td>REVERSE_RANGE</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Message</td>
<td>MSG</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>4</td>
<td>Raw</td>
<td>RAW</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="enum-status">
<span id="acousticstatus-enum-prefix-status"></span><span id="acousticstatus-enum-status"></span><h3>Enum Status<a class="headerlink" href="#enum-status" title="Permalink to this headline">¶</a></h3>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: status</li>
<li>Prefix: STATUS</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="8%" />
<col width="57%" />
<col width="19%" />
<col width="16%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Queued</td>
<td>QUEUED</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>1</td>
<td>In Progress</td>
<td>IN_PROGRESS</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>2</td>
<td>Sent</td>
<td>SENT</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Range Received</td>
<td>RANGE_RECEIVED</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>100</td>
<td>Busy</td>
<td>BUSY</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>101</td>
<td>Input Error</td>
<td>INPUT_FAILURE</td>
<td><em>-</em></td>
</tr>
<tr class="row-even"><td>102</td>
<td>Error trying to send acoustic text</td>
<td>ERROR</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>666</td>
<td>Message Type is not defined or is unsupported</td>
<td>UNSUPPORTED</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
</div>
</div>
</div>
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<h3><a href="index.html">Table Of Contents</a></h3>
<ul class="current">
<li class="toctree-l1"><a class="reference internal" href="Message Format.html">Message Format</a></li>
<li class="toctree-l1"><a class="reference internal" href="Core.html">Core Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Simulation.html">Simulation Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Storage.html">Storage Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Networking.html">Networking Messages</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">Acoustic Networking Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#lbl-range">LBL Range</a></li>
<li class="toctree-l2"><a class="reference internal" href="#lbl-beacon-configuration">LBL Beacon Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="#lbl-configuration">LBL Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="#acoustic-message">Acoustic Message</a></li>
<li class="toctree-l2"><a class="reference internal" href="#acoustic-operation">Acoustic Operation</a></li>
<li class="toctree-l2"><a class="reference internal" href="#acoustic-systems-query">Acoustic Systems Query</a></li>
<li class="toctree-l2"><a class="reference internal" href="#acoustic-systems">Acoustic Systems</a></li>
<li class="toctree-l2"><a class="reference internal" href="#acoustic-link-quality">Acoustic Link Quality</a></li>
<li class="toctree-l2"><a class="reference internal" href="#acoustic-transmission-request">Acoustic Transmission Request</a></li>
<li class="toctree-l2"><a class="reference internal" href="#acoustic-transmission-status">Acoustic Transmission Status</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Sensors.html">Sensors Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Actuation.html">Actuation Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Navigation.html">Navigation Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Guidance.html">Guidance Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Maneuvering.html">Maneuvering Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vehicle Supervision.html">Vehicle Supervision Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Plan Supervision.html">Plan Supervision Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="CCU.html">CCU Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Autonomy.html">Autonomy Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="External.html">External Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Development.html">Development Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Custom.html">Custom Messages</a></li>
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