I am attempting to use the data Underwater Simulator (UWSim) provides through the ROS interface to simulate a number of sensors that will be running on a physical aquatic robot. One of the sensors detects the current depth of the robot so, I want to simulate this with the data provided by the UWSim simulated pressure sensor. The Problem is that nowhere in the UWSim wiki or source code can I find any reference to what units UWSim uses to measure pressure.
That being said, what units does UWSim use to measure pressure? Additionally, I would appreciate general information about what units UWSim uses for the data provided by it's virtual sensors.