Simrad TPR datagram format
Simrad TPR is a proprietary datagram format created by Kongsberg Maritime. It provides the relative bearing and water depth of the trawl sensor, as well as its distance from the vessel. The bearing resolution is 1 degree.
Format
@IITPR,x,M,y,P,z.z,M<CR><LF>
Description
Note
All data relate to the trawl sensor (target).
1 II: Talker identifier
2 TPR: Datagram identifier
3 x,M: Horizontal range (Metres) (0 – 4000)
4 y,P: Bearing (degrees) (Relative to vessel heading)
5 z,z,M: Depth (Metres) (0 ‑ 2000)
Note
The Simrad ITI measures the depth differently from the range and the bearing. If the ITI only knows the range and the bearing, the depth field is empty.