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Drivers Manual

Generic - Navitracker Density Probe - 02

Description

Driver for decoding the x-offset and layback for a Navitracker Density Probe, as "USBL XYZ" observations, in order to position a towed object.

Towed behind a vessel, this probe measures continuously the sediment density.

In order to decode this sediment density, please refer to document Decoding Density Observation.

Besides the density value it outputs also the depth of the sensor.

In order to decode this depth, please see document Decoding Depth Observation.

Driver Information

Driver Generic - Navitracker Density Probe  Interface Type Serial Driver Class Type Terminated 
UTC Driver (question)  No Input / Output Input  Executable NavitrackerDensityProbe.ini 
Related Systems
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Interfacing Notes

The driver is a so-called passive driver, i.e. it does not send commands or data back to the sensor. Therefore only a one-way cable wiring is needed.

One-way Cable wiring diagram:

DB-25

Sensor

or

DB-9

Sensor

 

DB-25

COM

or

DB-9

COM

Pin 2

TXD

Pin 3

TXD

-----

Pin 3

RXD

Pin 2

RXD

Pin 3

RXD

Pin 2

RXD

X

Pin 2

TXD

Pin 3

TXD

Pin 7

SG

Pin 5

SG

-----

Pin 7

SG

Pin 5

SG

Database Setup

Define in Db Setup a system of type 'USBL' and select the driver 'Generic - Navitracker Density Probe'.

Set the right I/O parameters and select Next.

On the 2nd wizard page, select the object and node that represent the towpoint on your vessel.

Leave the roll, pitch and heading correction to None. Select Next, don't change anything, select Next.

On the last wizard page, USBL Targets, add one target: Select a node located on the tow fish, representative for the offset and layback in the datastring and press Finish.

Online

The decoded "XYZ" values may be monitored on-line using a Observation Physics.

The mode status (1 or 2) can be monitored as quality indicator of the Density observation.

The x-offset, the layback and the depth observation are decoded as USBL XYZ observations. You can use it in the Computation setup to position tow fish object. If you already have a vertical component, e.g. from a ROV Depth observation, you may want to disable the use of the USBL Z-component: