Position logs contain a common parameter group and the payload’s specific parameters, if any. Common parameter columns are filled in with the latest received value. Specific payload columns are filled in at the moment when the payloads receive data, excluding altimeters, whose columns are written as common parameters.
New records are added to the Position Log at every unique timestamp when the payload column is updated. Updates for the common timestamp are merged into a single log record. If payloads don’t receive data during a 100 ms period, the Position Log starts logging only common parameters at a 10 Hz rate.
Common Columns Description
| Header |
Unit |
Description |
| Elapsed |
ms |
Timestamp of the record in Unix epoch format: milliseconds since 1970-01-01 00:00:00 UTC. |
| Date |
|
Date received from the drone. Format: yyyy/MM/dd |
| Time |
|
UTC time received from the drone. Format: hh:mm:ss.ms |
| Pitch |
deg |
Pitch angle of drone attitude |
| Roll |
deg |
Roll angle of drone attitude |
| Heading |
deg |
Yaw angle of drone attitude |
| Latitude |
deg |
GNSS coordinate of drone position (with RTK correction in RTK mode) |
| Longitude |
deg |
GNSS coordinate of drone position (with RTK correction in RTK mode) |
| Altitude |
m |
Drone altitude over home point in meters. Calculated as Fused altitude (reported by FC) minus starting point altitude. |
| Next WP |
|
Index of next waypoint |
| Velocity |
m/s |
Drone speed over ground (m/s) |
| RTK Status |
|
Is RTK mode ON or OFF |
| Ellipsoidal Height |
m |
GNSS altitude over globe. GPS/RTK depends on the mode. RTK altitude for the RTK mode. GPS altitude for the non-RTK mode. |
| ALT:Altitude |
m |
Altitude reported by configured altimeter. |
Anemometer Columns Description
| Column name |
Unit |
Description |
| AIR:Speed |
m/s |
Measured wind speed |
| AIR:Direction |
deg |
Measured wind direction relative to magnetic north or sensor body according to sensor configuration. |
Altimeter Columns Description
| Column name |
Unit |
Description |
| ALT:Altitude |
m |
Measured altitude |
| ALT:ID |
|
Identification string to distinguish values from multiple altimeters |
Echosounder Columns Description
| Column name |
Unit |
Description |
| ECHO:Depth |
m |
Measured depth |
| ECHO:Depth Hi |
m |
Measured depth on high acoustic frequency. Support for dual frequency echosounder |
| ECHO:Depth Lo |
m |
Measured depth on low acoustic frequency. Support for dual frequency echosounder |
| ECHO:True Depth |
m |
Depth with taking into account sensor position relative to the waterline. True Depth calculates using ALT:Altitude value and the ECHOSOUNDER/CABLE_LENGTH_M configuration paramater. |
| ECHO:True Depth Hi |
m |
Depth on high acoustic frequency with taking into account sensor position relative to the waterline. True Depth Hi calculates using ALT:Altitude value and the ECHOSOUNDER/CABLE_LENGTH_M configuration paramater. Support for dual frequency echosounder |
| ECHO:True Depth Lo |
m |
Depth on low acoustic frequency with taking into account sensor position relative to the waterline. True Depth Hi calculates using ALT:Altitude value and the ECHOSOUNDER/CABLE_LENGTH_M configuration paramater. Support for dual frequency echosounder |
| ECHO:Temperature |
°C |
Temperature in degrees Celsius |
| ECHO:Trace |
|
Trace number in SEG-Y file |
| ECHO:Trace Hi |
|
Trace number in SEG-Y file for high acoustic frequency. Support for dual frequency echosounder |
| ECHO:Trace Lo |
|
Trace number in SEG-Y file for low acoustic frequency. Support for dual frequency echosounder |
| ECHO:Pitch |
deg |
Pitch angle received from the payload |
| ECHO:Roll |
deg |
Roll angle received from the payload |
Cerulean Sonar Surveyor 240-16 Columns Description
| Column name |
Unit |
Description |
| MBES:Depth |
m |
Measured depth |
| MBES:True Depth |
m |
Depth from the surface. |
| MBES:Temperature |
°C |
Temperature in degrees Celsius |
| MBES:Pressure |
bar |
Water pressure in bars |
| MBES:Pitch |
deg |
Pitch angle received from the payload |
| MBES:Roll |
deg |
Roll angle received from the payload |
FluX Aero Methane Sniffer Columns Description
| Column name |
Unit |
Description |
| GAS:Concentration 1 |
ppm |
Concentration for gas 1 |
| GAS:Concentration 2 |
ppm |
Concentration for gas 2 |
| GAS:Temp |
°C |
Sensor temperature in degrees Celsius |
Falcon 1/2/Plus Columns Description
| Column name |
Unit |
Description |
| GAS:Methane |
ppm × m |
Measured concentration in ppm (parts per million) per meter |
| GAS:Status |
|
Specific status for the payload: 0: on measuring (but the intensity is low, measure value is not accurate as 1); 1: on measuring (with good intensity level); 2-4: N/A; 5: not enough reflection (very low intensity, value is not accurate); 6: too much reflection (high density gas); 7: too much reflection (not able to measure by interfering of sunlight, etc…); 8: N/A; 9: stop, no measuring |
GNSS Receiver Columns Description
| Column name |
Unit |
Description |
| GNSS:Date |
|
Date |
| GNSS:Time |
|
Time |
| GNSS:Latitude |
deg |
Latitude |
| GNSS:Longitude |
deg |
Longitude |
| GNSS:Altitude |
m |
Altitude above/below mean-sea-level (geoid) |
| GNSS:Quality Indicator |
|
GPS Quality Indicator: 0: fix not available; 1: GPS fix; 2: Differential GPS fix; 3: PPS fix; 4: RTK; 5: float RTK; 6: estimated (dead reckoning); 7: manual input mode; 8: simulation mode |
| GNSS:Satellites |
|
Number of satellites in use |
| GNSS:HDOP |
m |
Horizontal dilution of precision |
| GNSS:Undulation |
m |
Geoidal separation, the difference between the WGS-84 earth ellipsoid and mean-sea-level (geoid). Negative value means mean-sea-level below ellipsoid |
Ground-Penetrating Radar Columns Description
| Column name |
Unit |
Description |
| GPR:Trace |
|
Trace number in SEG-Y file |
Ebinger VEMOS AIR Columns Description
| Column name |
Unit |
Description |
| MD:Sensor ID |
|
Configured sensor identifier PAYLOAD_ID |
| MD:Value |
|
Value from the sensor |
Obstacle Detector Columns Description
| Column name |
Unit |
Description |
| OBS:Sector1 |
m |
Distance to the nearest obstacle in the sector 1 |
| OBS:Sector2 |
m |
Distance to the nearest obstacle in the sector 2 (central sector) |
| OBS:Sector3 |
m |
Distance to the nearest obstacle in the sector 3 |
| OBS:ID |
|
Number of instance which generated the record |
Lightware SF30/D Altimeter Description
| Column name |
Unit |
Description |
| SF:RawF |
m |
First return raw |
| SF:FiltF |
m |
First return filtered |
| SF:SgthF |
% |
First return strength |
| SF:RawL |
m |
Last return raw |
| SF:FiltL |
m |
Last return filtered |
| SF:SgthL |
% |
Last return strength |
| SF:Noise |
|
Background noise |
| SF:Temp |
°C |
Temperature in degrees Celsius |