IMOCA keel — team access (function 16)

The canting-keel system of an IMOCA, in the read-only form exposed to the shore team. It reports the cant angle and the pressure in each hydraulic ram, the state of the valves and the motor, which sensors are healthy, the capacitor bank that drives the rams, and the two wing angles. Frames expire after 10 seconds rather than the usual 30, because this is data that is watched live.

Published only (no commands). All frames add counter to metadata; expireAfterSec: 10.

Published

device/16/<i>/system

data field	Type	Description
facadeCount	int	Number of facades (0-3)
presenceCapa	bool	Capacitor presence
positionSensor	bool	Position sensor OK
portsidePressureSensor	bool	Portside pressure sensor OK
starboardPressureSensor	bool	Starboard pressure sensor OK
overVoltageLockOut	bool	Over-voltage lockout
underVoltageLockOut	bool	Under-voltage lockout
CCEvRelPort	bool	Port release valve flag
CCEvRelStar	bool	Starboard release valve flag
CCEvMouvPort	bool	Port movement valve flag
CCEvMouvStar	bool	Starboard movement valve flag
CCCmdMotor	bool	Motor command flag

{
  "data": {
    "facadeCount": 2,
    "presenceCapa": true,
    "positionSensor": true,
    "portsidePressureSensor": true,
    "starboardPressureSensor": true,
    "overVoltageLockOut": false,
    "underVoltageLockOut": false,
    "CCEvRelPort": false,
    "CCEvRelStar": false,
    "CCEvMouvPort": false,
    "CCEvMouvStar": false,
    "CCCmdMotor": false
  },
  "metadata": {
    "rxdate": "2026-06-17T14:30:45.123Z",
    "rxTimestamp": 1781793045,
    "expireAfterSec": 10,
    "counter": 6
  }
}

device/16/<i>/keel

data field	Type	Unit	Description
reversePressure	bool	—	Reverse-pressure flag
keelAngle	number (1 dec)	°	Keel cant angle (signed)
portsidePressure	int	bar	Portside ram pressure
starboardPressure	int	bar	Starboard ram pressure

device/16/<i>/capa

data field	Type	Unit	Description
onOffSwitch	bool	—	On/off switch
batteryVoltage	number (1 dec)	V	Battery voltage
capaVoltage	number (1 dec)	V	Capacitor voltage
capaCurrent	number (1 dec)	A	Capacitor current (signed)

device/16/<i>/wing

data field	Type	Unit	Description
portside	number (1 dec)	°	Portside wing angle (signed)
starboard	number (1 dec)	°	Starboard wing angle (signed)

{
  "data": {
    "reversePressure": false,
    "keelAngle": 38.5,
    "portsidePressure": 120,
    "starboardPressure": 0
  },
  "metadata": {
    "rxdate": "2026-06-17T14:30:45.123Z",
    "rxTimestamp": 1781793045,
    "expireAfterSec": 10,
    "counter": 4
  }
}

mosquitto_sub -h 127.0.0.1 -t 'device/16/+/#' -v