Drivers Manual

Description

Driver to be used to decode roll-pitch-heave, heading and/or lat-lon-height, velocity, and rate of turn observations from a Kongsberg Seatex Seapath MRU, outputting the Seapath Binary messages, in Format 23 or Format 26.

Driver Information

Driver	Seapath Binary Format 23 Seapath Binary Format 26	Interface Type	TCP/UDP/Serial	Driver Class Type	Counted
UTC Driver	Yes and No	Input / Output	Input	Executable	DrvQPSCountedTCP.exe SEAPATH_BIN26 PPS DrvQPSCountedTCP.exe SEAPATH_BIN26 PPS NOCS DrvQPSCountedTCP.exe SEAPATH_BIN23 PPS DrvQPSCountedTCP.exe SEAPATH_BIN23 PPS NOCS DrvQPSCountedUDP.exe SEAPATH_BIN26 PPS DrvQPSCountedUDP.exe SEAPATH_BIN26 PPS NOCS DrvQPSCountedUDP.exe SEAPATH_BIN23 PPS DrvQPSCountedUDP.exe SEAPATH_BIN23 PPS NOCS DrvQPSCounted.exe SEAPATH_BIN26 PPS DrvQPSCounted.exe SEAPATH_BIN26 PPS NOCS DrvQPSCounted.exe SEAPATH_BIN23 PPS DrvQPSCounted.exe SEAPATH_BIN23 PPS NOCS
Related Systems	Page: Network (TCP) - Seapath Binary Format 23 (heading) (UTC) (NOCS) - 05 — Gyro Page: Network (TCP) - Seapath Binary Format 23 (heading) (UTC) - 05 — Gyro Page: Network (TCP) - Seapath Binary Format 23 Position (UTC) (NOCS) - 12 — Position Navigation System Page: Network (TCP) - Seapath Binary Format 23 Position (UTC) - 12 — Position Navigation System Page: Network (TCP) - Seapath Binary Format 23 R-P-H (UTC) (NOCS) - 03 — Pitch Roll Heave Sensor Page: Network (TCP) - Seapath Binary Format 23 R-P-H (UTC) - 03 — Pitch Roll Heave Sensor Page: Network (TCP) - Seapath Binary Format 23 Vel, RoT (UTC) (NOCS) - 42 — Acceleration Velocity Sensor Page: Network (TCP) - Seapath Binary Format 23 Vel, RoT (UTC) - 42 — Acceleration Velocity Sensor Page: Network (TCP) - Seapath Binary Format 26 (heading) (UTC) (NOCS) - 05 — Gyro Page: Network (TCP) - Seapath Binary Format 26 (heading) (UTC) - 05 — Gyro Page: Network (TCP) - Seapath Binary Format 26 Position (UTC) (NOCS) - 12 — Position Navigation System Page: Network (TCP) - Seapath Binary Format 26 Position (UTC) - 12 — Position Navigation System Page: Network (TCP) - Seapath Binary Format 26 R-P-H (UTC) (NOCS) - 03 — Pitch Roll Heave Sensor Page: Network (TCP) - Seapath Binary Format 26 R-P-H (UTC) - 03 — Pitch Roll Heave Sensor Page: Network (TCP) - Seapath Binary Format 26 Vel, RoT (UTC) (NOCS) - 42 — Acceleration Velocity Sensor Page: Network (TCP) - Seapath Binary Format 26 Vel, RoT (UTC) - 42 — Acceleration Velocity Sensor Page: Network (UDP) - Seapath Binary Format 23 (heading) (UTC) (NOCS) - 05 — Gyro Page: Network (UDP) - Seapath Binary Format 23 (heading) (UTC) - 05 — Gyro Page: Network (UDP) - Seapath Binary Format 23 Position (UTC) (NOCS) - 12 — Position Navigation System Page: Network (UDP) - Seapath Binary Format 23 Position (UTC) - 12 — Position Navigation System Page: Network (UDP) - Seapath Binary Format 23 R-P-H (UTC) (NOCS) - 03 — Pitch Roll Heave Sensor Page: Network (UDP) - Seapath Binary Format 23 R-P-H (UTC) - 03 — Pitch Roll Heave Sensor Page: Network (UDP) - Seapath Binary Format 23 Vel, RoT (UTC) (NOCS) - 42 — Acceleration Velocity Sensor Page: Network (UDP) - Seapath Binary Format 23 Vel, RoT (UTC) - 42 — Acceleration Velocity Sensor Page: Network (UDP) - Seapath Binary Format 26 (heading) (UTC) (NOCS) - 05 — Gyro Page: Network (UDP) - Seapath Binary Format 26 (heading) (UTC) - 05 — Gyro Page: Network (UDP) - Seapath Binary Format 26 Position (UTC) (NOCS) - 12 — Position Navigation System Page: Network (UDP) - Seapath Binary Format 26 Position (UTC) - 12 — Position Navigation System Page: Network (UDP) - Seapath Binary Format 26 R-P-H (UTC) (NOCS) - 03 — Pitch Roll Heave Sensor Page: Network (UDP) - Seapath Binary Format 26 R-P-H (UTC) - 03 — Pitch Roll Heave Sensor Page: Network (UDP) - Seapath Binary Format 26 Vel, RoT (UTC) (NOCS) - 42 — Acceleration Velocity Sensor Page: Network (UDP) - Seapath Binary Format 26 Vel, RoT (UTC) - 42 — Acceleration Velocity Sensor Page: Seapath Binary Format 23 (heading) (UTC) (NOCS) - 05 — Gyro Page: Seapath Binary Format 23 (heading) (UTC) - 05 — Gyro Page: Seapath Binary Format 23 Position (UTC) (NOCS) - 12 — Position Navigation System Page: Seapath Binary Format 23 Position (UTC) - 12 — Position Navigation System Page: Seapath Binary Format 23 R-P-H (UTC) (NOCS) - 03 — Pitch Roll Heave Sensor Page: Seapath Binary Format 23 R-P-H (UTC) - 03 — Pitch Roll Heave Sensor Page: Seapath Binary Format 23 Vel, RoT (UTC) (NOCS) - 42 — Acceleration Velocity Sensor Page: Seapath Binary Format 23 Vel, RoT (UTC) - 42 — Acceleration Velocity Sensor Page: Seapath Binary Format 26 (heading) (UTC) (NOCS) - 05 — Gyro Page: Seapath Binary Format 26 (heading) (UTC) - 05 — Gyro Page: Seapath Binary Format 26 Position (UTC) (NOCS) - 12 — Position Navigation System Page: Seapath Binary Format 26 Position (UTC) - 12 — Position Navigation System Page: Seapath Binary Format 26 R-P-H (UTC) (NOCS) - 03 — Pitch Roll Heave Sensor Page: Seapath Binary Format 26 R-P-H (UTC) - 03 — Pitch Roll Heave Sensor Page: Seapath Binary Format 26 Vel, RoT (UTC) (NOCS) - 42 — Acceleration Velocity Sensor Page: Seapath Binary Format 26 Vel, RoT (UTC) - 42 — Acceleration Velocity Sensor
Related Pages

Decoding Notes

The Seapath MRU driver will reverse the sign of the heave so that +ve heave is up, as is standard in QINSy. All units are converted to meters and degrees, respectively.

The protocol contains status flags for some observations.
Based on these flags, the observations can have the following quality indicators:

Status flag	Quality indicator
None (OK)	0.0
Reduced	-1.0
Invalid	-2.0

All drivers have a "NOCS" version. If this version of the driver is selected, the driver will not verify the checksum in the message. If it is enabled, the checksum will be verified and the data will be discarded if the checksum is incorrect.

Database Setup

Position navigation systems

To decode the position (Lat/Lon/Height), add a system of type "Position Navigation System", select the same driver name and the same I/O parameters as for the other systems and define the antenna node and reference datum.

Gyro compass system

To decode the heading, add a system of type "Gyro and Compasses", select the appropriate driver, and define the heading parameters.

Pitch roll heave system

To decode the pitch, roll and heave, add a system of type "Pitch, Roll and Heave sensor" to the Qinsy database and make sure to select the same driver name and the same I/O parameters as for the Gyro system.

Observation	Positive when
Roll	Port up
Pitch	Bow up
Heave	Downward

Notice that the driver will reverse the heave sign, see Decoding Notes for more about this.

Velocity & rate of turn

To decode velocity and/or rate of turn, add an "Acceleration, Velocity & Rotation rate" system to the setup and add the appropriate observations.

Add an observation of type "ROV Depth". The driver will automatically reverse the sign of the decoded height, in order to make it a 'depth'.

extra info

The binary 26 protocol contains delayed heave. If this protocol is used, the delayed heave data will be stored in your project folder under the "Import" subfolder.