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.. UHDAS/CODAS restructured text document
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**MAHRS** Diagnostics
-------------------------

TSS1 message
~~~~~~~~~~~~~~

- The TSS1 data string contains 27 characters in five data fields.
- The acceleration fields contain ASCII-coded hexadecimal
  values. Horizontal acceleration uses units of 3.83cm/s2 in the range
  zero to 9.81m/s2. Vertical acceleration uses units of 0.0625cm/s2 in
  the range –20.48 to +20.48m/s2.
- The motion measurements contained in the data string will be in real
  time, valid for the instant when the System begins to transmit the
  string.  _ Motion measurements include ASCII-coded decimal values.
- Heave measurements are in cm in the range –99.99 to +99.99
  metres. Positive heave is above datum.
- Roll and pitch measurements are in degrees in the range –90.99° to
  +90.99°. Positive roll is port-side up, starboard down. Positive pitch
  is bow up, stern down.


Interpreting the Status Flag
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

**"U" UNAIDED MODE – SETTLED CONDITION**

The System is operating without any input from a gyrocompass, a GPS
receiver or a Doppler log.

**"u" UNAIDED MODE – SETTLING**

The System is operating as above but is still awaiting the end of the
3 minutes settling period after power- on or a change of mode or heave
bandwidth.

**"G" GPS AIDED MODE – SETTLED CONDITION**

The System is receiving and using velocity aiding signals from a GPS
receiver or a Doppler log.

**"g"  GPS AIDED MODE – SETTLING**

The System is receiving velocity aiding signals from a GPS receiver or
a Doppler log, but is still awaiting the end of the 3 minutes settling
period after power-on or a change of mode or heave bandwidth.

**"H" HEADING AIDED MODE – SETTLED CONDITION**

The System is receiving and using heading aiding signals from a gyrocompass.

**"h" HEADING AIDED MODE – SETTLING**

The System is receiving heading aiding signals from a gyrocompass but
is still awaiting the end of the 3 minutes settling period after
power-on or a change of mode or heave bandwidth.

The gyrocompass may take several hours to settle after it has been
powered-on. During this time, gyro- compass aiding of the System will
not be perfect. The status flag does NOT indicate this condition.

**"F" FULL AIDED MODE – SETTLED CONDITION**

The System is receiving and using aiding signals from a gyrocompass
and from a GPS receiver or a Doppler log.

**"f" FULL AIDED MODE – SETTLING**

The System is receiving aiding signals from a gyrocompass and a GPS
receiver or a Doppler log, but is still awaiting the end of the 3
minutes settling period after power-on or a change of mode or heave
bandwidth.


Examples

::

  example warning TSS1 message:


  :023D97 -0043h-0031  0126
  :003D35 -0042h-0091  0133
  :053D9B -0028h-0140  0087
  :053D2E  0018h-0215  0090

  example good TSS1 message:

  :003D43  0000F-0082  0114
  :003D44  0000F-0082  0114
  :003D3E  0000F-0018  0116
  :003D41  0000F-0020  0116
  :003D41  0000F-0019  0115
  :003D32  0000F-0009  0112
  :003D3E  0000F-0006  0110
  :003D44  0000F-0041  0124

..