Instrument Make and Model: Phins
S/N:PH-626
Calibration Date: N/A
Installation: June 2011
DD: 20130506

RAW datafile:
dsLog time stamp:
MRU 2013/05/06 11:00:00.805 PHINS 

MRU                 Motion Reference Unit
2013/02/05          date in gmt
15:00:00.828        time in gmt
PHINS               data collected using  SSSG Phins
data                $HEHDT,5.021,T*29
                    $PHTRO,1.72,M,0.34,T*4B
                    $PHLIN,0.335,0.407,0.542*54
                    $PHSPD,0.016,0.309,0.001*51
                    $PHCMP,3956.11,N,2.01,N*7C
                    $PHINF,20000000*77 


HEHDT,x.xxxxx,T*hh<CR><LF>
x.xxx   is the true heading in degrees
T       is a fixed character = ‘T’
hh

$PHTRO,x.xx,a,y.yy,b*hh<CR><LF>
x.xx    is the pitch in degrees
a       is ‘M’ for bow up and ‘P’ for bow down
y.yy    is the roll in degrees
b       is ‘B’ for port down and ‘T’ for port up
hh      is the checksum

$PHLIN,x.xxx,y.yyy,z.zzz*hh<CR><LF>
x.xxx    is the surge in meters (signed) 3 digits after the decimal point
y.yyy    is the sway in meters (signed) 3 digits after the decimal point
z.zzz    is the heave in meters (signed) 3 digits after the decimal point
hh       is the checksum

$PHSPD,x.xxx,y.yyy,z.zzz*hh<CR><LF>
x.xxx   is the surge speed in m/s (signed) 3 digits after the decimal point
y.yyy   is the sway speed in m/s (signed) 3 digits after the decimal point
z.zzz   is the heave speed in m/s (signed 3 digits after the decimal point
hh      is the checksum


$PHCMP,LLll.ll,a,x.xx,N*hh<CR><LF>
LLll.ll   is the latitude in degrees (two first L) and in minutes (four last l)
a         is ‘N’ for Northern hemisphere and ‘S’ for Southern hemisphere
x.xx      is the Horizontal speed in knots
N         is a fixed character = ‘N’
hh        is the checksum

$PHINF,hhhhhhhh*hh<CR><LF>
hhhhhhhh   is the hexadecimal value of INS  see Table V.9
           user status
hh         is the checksum

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