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Drivers Manual

Network - Seapath MRU Sounder Sentence (TCP) - 03

Description

Driver to be used to decode roll-pitch-heave observations from a Seapath (or MRU) motion reference unit outputting so-called Sounder Sentence ASCII messages.

  • No heading observation is part of the message, only roll, pitch and heave.
  • There are three versions of this driver, a serial one, a network UDP and a network TCP version. Decoding is the same for all. 
  • When your motion reference unit outputs the NMEA $PSXN format, please use the driver as found in the related pages.

Driver Information

Driver Seapath MRU Sounder Sentence  Interface Type Serial  Driver Class Type Terminated <LF> 
UTC Driver (question) No Input / Output Input  Executable DrvSeapathMRUASCII.exe SOUNDER 
Related Systems
Related Pages Seapath MRU NMEA (PSXN) - 03
Network - Seapath MRU NMEA (PSXN) (UDP) - 03
Network - Seapath MRU NMEA (PSXN) (TCP) - 03

Database Setup

  • In order to decode the motion, add to your template setup a Pitch Roll Heave Sensor system and select driver
    "Seapath MRU Sounder Sentence
    " or "Network (UDP/TCP) - Seapath MRU Sounder Sentence" for the network variant.

    Fill in the correct I/O parameters and press Next to go to the next wizard page.


    Leave the settings at the defaults on the Motion Sensor Parameters page:

    Unit: Degrees, Roll convention: Positive heeling to starboard, Pitch convention: Positive bow up and Heave Sign: Positive upwards.

    The driver automatically converts the decoded values to these conventions.

Decoding Notes

  • There is no quality information in the Sounder Sentence message about the observations, except for a warning character at column 14: Normally a space character, but when data is unstable it will be a '?' character.
    QINSy will not use data which is marked as unstable. When this happens the observation quality indicators will be -1.0 instead of 0.0. Note that these quality indicators can be monitored using an Observation Physics Display.

  • There is no time information inside the message, so timing of the observation will be at time-of-arrival.

  • The driver will automatically convert the decoded values to the default QINSy convention and unit.