Driver to decode heading, pitch and roll (not heave) from a CDL ROV data string in Tokimec PTVF format, i.e. strings starting with a $PTVF header.
The (absolute) value of the rate values is decoded as quality indicator which can be seen in the Observation Physics display. QINSy regards negative quality indicators as bad observations so the sign characters of the rate values are neglected.
Add a system of type "Gyro Compass" in order to decode the heading. Add a system of type "Pitch Roll Heave Sensor" to decode the pitch and roll. The format contains no heave information. Make sure to set the proper roll and pitch conventions.
Roll convention is Positive heeling to port (Positive port down) and Pitch convention is Positive bow down.