Serial Comms
The SSB_LBP telegram can be configured to output a $PSIMSSB or a $PSIMLBP address depending on how the telegram is set up. By adjusting the frame of reference and orientation, it can also adjust the coordinate system and orientation information.
If using a serial connection for the telegram output, configure the telegram with the correct port, baud rate and Data-Parity-Stop.
UDP Comms
If using a UDP connection for the output telegram, the correct output mode will need to be selected for your operational requirements along with IP address and Tx port.
Broadcast will send the output telegram to the entire network where any connected receiver will be able to pick it up. This option is the most typical configuration used.
Multicast will send the telegram to a set of receivers on the network but not all.
Unicast will send the telegram to only one receiver using a specific IP address.
LBL Positioning
If the telegram is enabled for the vessel instead of the beacon(s), and the frame of reference is a beacon, the system will output an LBL type telegram.
The example below shows these details:
An example of the output string is shown below:
USBL Positioning
If the telegram is enabled for the beacon(s) instead of the vessel, a $PSIMSSB telegram will be generated for USBL positioning.
An example of setup and the telegram is shown below:
Beacon Names
Beacons are named in the telegram by using the index value on the telegram set up page. They can be numbered from 1—99. A beacon with the index of 7 for example would show in the telegram as B07.
It is imperative that the beacon is named with the correct index value as this is what the external system will use to identify individual beacons.
Cartesian or UTM
When the telegram is set up, by default it will have a World Frame of Reference along with an Orientation of North Up. This will be denoted in the output sting with ‘U,N’
If the telegram is set to World, the coordinate system used will be Geodesy UTM/WGS84. This will be marked with ‘U’ in the telegram. If it is set to the Ship, it will use cartesian coordinates which are marked by ‘C’ in the telegram.
An Orientation of North up will output ‘N’ in the telegram whereas Bow up will output ‘H’.
Supported options for NMEA SSB Telegram are shown in the table below.
| Coordinate System | Orientation | X_coordinate | Y_coordinate |
| C | H | Starboard | Forwards |
| C | N | North (m) | East (m) |
| U | N | Northings (m) | Eastings (m) |
| R | N | Latitude (radians) | Longitude (radians) |
Further information can be found in Appendix “Output Telegram Formats and Interfaces > NMEA 0183 SSB – (USBL/SSBL Position)” of the Ranger 2 User Manual.
The example below is set up to output Cartesian, Bow Up (C,H).
Contact [email protected] for more information.