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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
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<title>IMC v5.4.11-unknown — IMC v5.4.11 Specification</title>
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<div class="section" id="imc-v5-4-11-unknown">
<h1>IMC v5.4.11-unknown<a class="headerlink" href="#imc-v5-4-11-unknown" title="Permalink to this headline">¶</a></h1>
<p>This document describes the communications protocol associated
with the LSTS software framework. Concepts such as <em>message</em>,
<em>field</em> and <em>packet</em> are explained in detail in the subsequent
chapters.</p>
<p>Inter module communication is achieved by the exchange of messages
that can be recognized and interpreted by all participating
modules. A message is a self-contained collection of data fields
conveying relevant information about a given subject. The mean by
which the messages are exchanged is not described in this
document, but the reader can assume that at least the UDP Internet
protocol is available at all ends of the communications channel.</p>
<p>The Neptus Command and Control Unit (CCU), currently being used at
LSTS, supports mission planning and control, using the described
messaging API. This software entity can be used to define a plan
before execution and monitor the plan’s execution by presenting an
operating console. For further details on this software contact
the LSTS.</p>
<p>A CCU exercises authority over a vehicle (real or
simulated). Usually this term is applied to software in the class
of LSTS Neptus, but can also be applied to software modules
extending the vehicle core control software.</p>
<p>The LSTS reserves itself the right to use message identification
numbers up to 999. Thus if a third party needs to extend this API
it must use identification numbers starting at 1000. The
identification number 65535 has a special meaning and must not be
used to extend the IMC protocol.</p>
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<ul>
<li class="toctree-l1"><a class="reference internal" href="Message Format.html">Message Format</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Message Format.html#field-types">Field types</a></li>
<li class="toctree-l2"><a class="reference internal" href="Message Format.html#serialization">Serialization</a></li>
<li class="toctree-l2"><a class="reference internal" href="Message Format.html#header">Header</a></li>
<li class="toctree-l2"><a class="reference internal" href="Message Format.html#footer">Footer</a></li>
<li class="toctree-l2"><a class="reference internal" href="Message Format.html#flags">Flags</a></li>
<li class="toctree-l2"><a class="reference internal" href="Message Format.html#reference-of-units">Reference of Units</a></li>
<li class="toctree-l2"><a class="reference internal" href="Message Format.html#reference-of-global-enumerations">Reference of Global Enumerations</a></li>
<li class="toctree-l2"><a class="reference internal" href="Message Format.html#reference-of-global-bitfields">Reference of Global Bitfields</a></li>
<li class="toctree-l2"><a class="reference internal" href="Message Format.html#reference-of-message-groups">Reference of Message-Groups</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Core.html">Core Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Core.html#entity-state">Entity State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#query-entity-state">Query Entity State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#entity-information">Entity Information</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#query-entity-information">Query Entity Information</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#entity-list">Entity List</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#cpu-usage">CPU Usage</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#transport-bindings">Transport Bindings</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#restart-system">Restart System</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#device-calibration-control">Device Calibration Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#device-calibration-state">Device Calibration State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#entity-activation-state">Entity Activation State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#query-entity-activation-state">Query Entity Activation State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#vehicle-operational-limits">Vehicle Operational Limits</a></li>
<li class="toctree-l2"><a class="reference internal" href="Core.html#message-list">Message List</a></li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="Simulation.html">Simulation Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Simulation.html#simulated-state">Simulated State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Simulation.html#leak-simulation">Leak Simulation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Simulation.html#underwater-acoustics-simulation">Underwater Acoustics Simulation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Simulation.html#dynamics-simulation-parameters">Dynamics Simulation Parameters</a></li>
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<li class="toctree-l1"><a class="reference internal" href="Storage.html">Storage Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#storage-usage">Storage Usage</a></li>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#cache-control">Cache Control</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Storage.html#log-book-entry">Log Book Entry</a></li>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#log-book-control">Log Book Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#replay-control">Replay Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#clock-control">Clock Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#historic-ctd">Historic CTD</a></li>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#historic-telemetry">Historic Telemetry</a></li>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#historic-sonar-data">Historic Sonar Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#historic-event">Historic Event</a></li>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#vertical-profile">Vertical Profile</a></li>
<li class="toctree-l2"><a class="reference internal" href="Storage.html#profile-sample">Profile Sample</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Networking.html">Networking Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#heartbeat">Heartbeat</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#announce">Announce</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Networking.html#receive-signal-strength-information">Receive Signal Strength Information</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#voltage-standing-wave-ratio">Voltage Standing Wave Ratio</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#link-level">Link Level</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#sms">SMS</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#sms-transmit">SMS Transmit</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Networking.html#sms-state">SMS State</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Networking.html#received-iridium-message">Received Iridium Message</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#transmit-iridium-message">Transmit Iridium Message</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#iridium-transmission-status">Iridium Transmission Status</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#group-membership-state">Group Membership State</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Networking.html#link-latency">Link Latency</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#extended-receive-signal-strength-information">Extended Receive Signal Strength Information</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#historic-data-series">Historic Data Series</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#compressed-historic-data-series">Compressed Historic Data Series</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#historic-data-sample">Historic Data Sample</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#historic-data-query">Historic Data Query</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#remote-command">Remote Command</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#communication-systems-query">Communication Systems Query</a></li>
<li class="toctree-l2"><a class="reference internal" href="Networking.html#telemetry-message">Telemetry Message</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Acoustic Networking.html">Acoustic Networking Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Acoustic Networking.html#lbl-range">LBL Range</a></li>
<li class="toctree-l2"><a class="reference internal" href="Acoustic Networking.html#lbl-beacon-configuration">LBL Beacon Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="Acoustic Networking.html#lbl-configuration">LBL Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="Acoustic Networking.html#acoustic-message">Acoustic Message</a></li>
<li class="toctree-l2"><a class="reference internal" href="Acoustic Networking.html#acoustic-operation">Acoustic Operation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Acoustic Networking.html#acoustic-systems-query">Acoustic Systems Query</a></li>
<li class="toctree-l2"><a class="reference internal" href="Acoustic Networking.html#acoustic-systems">Acoustic Systems</a></li>
<li class="toctree-l2"><a class="reference internal" href="Acoustic Networking.html#acoustic-link-quality">Acoustic Link Quality</a></li>
<li class="toctree-l2"><a class="reference internal" href="Acoustic Networking.html#acoustic-transmission-request">Acoustic Transmission Request</a></li>
<li class="toctree-l2"><a class="reference internal" href="Acoustic Networking.html#acoustic-transmission-status">Acoustic Transmission Status</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Sensors.html">Sensors Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#revolutions-per-minute">Revolutions Per Minute</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#voltage">Voltage</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#current">Current</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#gps-fix">GPS Fix</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#euler-angles">Euler Angles</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#euler-angles-delta">Euler Angles Delta</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#angular-velocity">Angular Velocity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#acceleration">Acceleration</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#magnetic-field">Magnetic Field</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#ground-velocity">Ground Velocity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#water-velocity">Water Velocity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#velocity-delta">Velocity Delta</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#distance">Distance</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#temperature">Temperature</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#pressure">Pressure</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#depth">Depth</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#depth-offset">Depth Offset</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#sound-speed">Sound Speed</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#water-density">Water Density</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#conductivity">Conductivity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#salinity">Salinity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#wind-speed">Wind Speed</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#relative-humidity">Relative Humidity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#device-data-text">Device Data (Text)</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#device-data-binary">Device Data (Binary)</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#force">Force</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#sonar-data">Sonar Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#pulse">Pulse</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#pulse-detection-control">Pulse Detection Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#fuel-level">Fuel Level</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#gps-navigation-data">GPS Navigation Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#servo-position">Servo Position</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#device-state">Device State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#beam-configuration">Beam Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#data-sanity">Data Sanity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#rhodamine-dye">Rhodamine Dye</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#crude-oil">Crude Oil</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#fine-oil">Fine Oil</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#turbidity">Turbidity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#chlorophyll">Chlorophyll</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#fluorescein">Fluorescein</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#phycocyanin">Phycocyanin</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#phycoerythrin">Phycoerythrin</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#gps-fix-rtk">GPS Fix RTK</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#external-navigation-data">External Navigation Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#dissolved-oxygen">Dissolved Oxygen</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#air-saturation">Air Saturation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#throttle">Throttle</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#ph">pH</a></li>
<li class="toctree-l2"><a class="reference internal" href="Sensors.html#redox-potential">Redox Potential</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Actuation.html">Actuation Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#camera-zoom">Camera Zoom</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#set-thruster-actuation">Set Thruster Actuation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#set-servo-position">Set Servo Position</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#set-control-surface-deflection">Set Control Surface Deflection</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#remote-actions-request">Remote Actions Request</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#remote-actions">Remote Actions</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#button-event">Button Event</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#lcd-control">LCD Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#power-operation">Power Operation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#power-channel-control">Power Channel Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#query-power-channel-state">Query Power Channel State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#power-channel-state">Power Channel State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#led-brightness">LED Brightness</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#query-led-brightness">Query LED Brightness</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#set-led-brightness">Set LED Brightness</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#set-pwm">Set PWM</a></li>
<li class="toctree-l2"><a class="reference internal" href="Actuation.html#pwm">PWM</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Navigation.html">Navigation Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#estimated-state">Estimated State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#estimated-stream-velocity">Estimated Stream Velocity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#indicated-speed">Indicated Speed</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#true-speed">True Speed</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#navigation-uncertainty">Navigation Uncertainty</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#navigation-data">Navigation Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#gps-fix-rejection">GPS Fix Rejection</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#lbl-range-acceptance">LBL Range Acceptance</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#dvl-rejection">DVL Rejection</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#lbl-beacon-position-estimate">LBL Beacon Position Estimate</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#alignment-state">Alignment State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#groupstreamvelocity">GroupStreamVelocity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Navigation.html#airflow">Airflow</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Guidance.html">Guidance Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-heading">Desired Heading</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-z">Desired Z</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-speed">Desired Speed</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-roll">Desired Roll</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-pitch">Desired Pitch</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-vertical-rate">Desired Vertical Rate</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-path">Desired Path</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-control">Desired Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-heading-rate">Desired Heading Rate</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-velocity">Desired Velocity</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#path-control-state">Path Control State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#allocated-control-torques">Allocated Control Torques</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#control-parcel">Control Parcel</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#brake">Brake</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-linear-state">Desired Linear State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Guidance.html#desired-throttle">Desired Throttle</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Maneuvering.html">Maneuvering Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#goto-maneuver">Goto Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#popup-maneuver">PopUp Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#teleoperation-maneuver">Teleoperation Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#loiter-maneuver">Loiter Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#idlemaneuver">Idle Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#low-level-control-maneuver">Low Level Control Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#rows-maneuver">Rows Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#follow-path-maneuver">Follow Path Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#path-point">Path Point</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#yo-yo-maneuver">Yo-Yo Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#teleoperation-done">Teleoperation Done</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#station-keeping">Station Keeping</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#elevator-maneuver">Elevator Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#follow-trajectory">Follow Trajectory</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#trajectory-point">Trajectory Point</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#custom-maneuver">Custom Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#vehicle-formation">Vehicle Formation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#vehicle-formation-participant">Vehicle Formation Participant</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#stop-maneuver">Stop Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#register-maneuver">Register Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#maneuver-control-state">Maneuver Control State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#follow-system">Follow System</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#communications-relay">Communications Relay</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#cover-area">Cover Area</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#polygon-vertex">Polygon Vertex</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#compass-calibration-maneuver">Compass Calibration Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#formation-parameters">Formation Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#formation-plan-execution">Formation Plan Execution</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#follow-reference-maneuver">Follow Reference Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#reference-to-follow">Reference To Follow</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#follow-reference-state">Follow Reference State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#formation-monitoring-data">Formation Monitoring Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#relative-state">Relative State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#dislodge-maneuver">Dislodge Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#formation">Formation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#launch-maneuver">Launch Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#drop-maneuver">Drop Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#scheduled-goto">Scheduled Goto</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#rows-coverage">Rows Coverage</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#sample-maneuver">Sample Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#image-tracking">Image Tracking</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#takeoff-maneuver">Takeoff Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#land-maneuver">Land Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#autonomous-section">Autonomous Section</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#follow-point-maneuver">Follow Point Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#alignment-maneuver">Alignment Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#station-keeping-extended">Station Keeping Extended</a></li>
<li class="toctree-l2"><a class="reference internal" href="Maneuvering.html#magnetometer-maneuver">Magnetometer Maneuver</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Vehicle Supervision.html">Vehicle Supervision Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#vehicle-state">Vehicle State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#vehicle-command">Vehicle Command</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#monitor-entity-state">Monitor Entity State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#entity-monitoring-state">Entity Monitoring State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#operational-limits">Operational Limits</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#get-operational-limits">Get Operational Limits</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#calibration">Calibration</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#control-loops">Control Loops</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#vehicle-medium">Vehicle Medium</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#collision">Collision</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#formation-tracking-state">Formation Tracking State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#autopilot-mode">Autopilot Mode</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#formationstate">Formation Tracking State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#report-control">Report Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#state-report">State Report</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#transmission-request">Transmission Request</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#transmission-status">Transmission Status</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#sms-transmission-request">SMS Transmission Request</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#sms-transmission-status">SMS Transmission Status</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#vtol-state">VTOL State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#arming-state">Arming State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#tcp-transmission-request">TCP Transmission Request</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vehicle Supervision.html#tcp-transmission-status">TCP Transmission Status</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Plan Supervision.html">Plan Supervision Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#abort">Abort</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-specification">Plan Specification</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-maneuver">Plan Maneuver</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-transition">Plan Transition</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#emergency-control">Emergency Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#emergency-control-state">Emergency Control State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-db">Plan DB</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-db-state">Plan DB State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-db-information">Plan DB Information</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-control">Plan Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-control-state">Plan Control State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-variable">Plan Variable</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-generation">Plan Generation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#leader-state">Leader State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Plan Supervision.html#plan-statistics">Plan Statistics</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="CCU.html">CCU Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="CCU.html#reported-state">Reported State</a></li>
<li class="toctree-l2"><a class="reference internal" href="CCU.html#remote-sensor-info">Remote Sensor Info</a></li>
<li class="toctree-l2"><a class="reference internal" href="CCU.html#map">Map</a></li>
<li class="toctree-l2"><a class="reference internal" href="CCU.html#map-feature">Map Feature</a></li>
<li class="toctree-l2"><a class="reference internal" href="CCU.html#mappoint">MapPoint</a></li>
<li class="toctree-l2"><a class="reference internal" href="CCU.html#ccu-event">CCU Event</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Autonomy.html">Autonomy Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Autonomy.html#vehicle-links">Vehicle Links</a></li>
<li class="toctree-l2"><a class="reference internal" href="Autonomy.html#trex-observation">TREX Observation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Autonomy.html#trex-command">TREX Command</a></li>
<li class="toctree-l2"><a class="reference internal" href="Autonomy.html#trex-operation">TREX Operation</a></li>
<li class="toctree-l2"><a class="reference internal" href="Autonomy.html#trex-attribute">TREX Attribute</a></li>
<li class="toctree-l2"><a class="reference internal" href="Autonomy.html#trex-token">TREX Token</a></li>
<li class="toctree-l2"><a class="reference internal" href="Autonomy.html#trex-plan">TREX Plan</a></li>
<li class="toctree-l2"><a class="reference internal" href="Autonomy.html#event">Event</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Vision.html#compressed-image">Compressed Image</a></li>
<li class="toctree-l2"><a class="reference internal" href="Vision.html#image-transmission-settings">Image Transmission Settings</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="External.html">External Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="External.html#remote-state">Remote State</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Development.html">Development Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Development.html#target">Target</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#entityparameter">EntityParameter</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#entityparameters">EntityParameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#queryentityparameters">QueryEntityParameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#setentityparameters">SetEntityParameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#saveentityparameters">SaveEntityParameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#create-session">Create Session</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#close-session">Close Session</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#session-subscription">Session Subscription</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#session-keep-alive">Session Keep-Alive</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#session-status">Session Status</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#push-entity-parameters">Push Entity Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#pop-entity-parameters">Pop Entity Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#i-o-event">I/O Event</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#uamtxframe">UamTxFrame</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#uamrxframe">UamRxFrame</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#uamtxstatus">UamTxStatus</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#uamrxrange">UamRxRange</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#formation-control-parameters">Formation Control Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#formation-evaluation-data">Formation Evaluation Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#formationcontrolparams">Formation Control Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#formationevaluation">Formation Evaluation Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#soi-waypoint">SOI Waypoint</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#soi-plan">SOI Plan</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#soi-command">SOI Command</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#soi-state">SOI State</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#message-fragment">Message Fragment</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#neptus-blob">Neptus Blob</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#aborted">Aborted</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#usbl-angles">USBL Angles</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#usbl-position">USBL Position</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#usbl-fix">USBL Fix</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#parameters-xml">Parameters XML</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#get-parameters-xml">Get Parameters XML</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#set-image-coordinates">Set Image Coordinates</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#get-image-coordinates">Get Image Coordinates</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#get-world-coordinates">Get World Coordinates</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#usbl-angles-extended">USBL Angles Extended</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#usbl-position-extended">USBL Position Extended</a></li>
<li class="toctree-l2"><a class="reference internal" href="Development.html#usbl-fix-extended">USBL Fix Extended</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Custom.html">Custom Messages</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Custom.html#total-magnetic-field-intensity">Total Magnetic Field Intensity</a></li>
</ul>
</li>
</ul>
</div>
</div>
</div>
</div>
</div>
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<h3><a href="#">Table Of Contents</a></h3>
<ul>
<li class="toctree-l1"><a class="reference internal" href="Message Format.html">Message Format</a></li>
<li class="toctree-l1"><a class="reference internal" href="Core.html">Core Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Simulation.html">Simulation Messages</a></li>
<li class="toctree-l1"><a class="reference internal" href="Storage.html">Storage Messages</a></li>
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