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||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
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|
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.
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.
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'.
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.