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Sonardyne Fusion (PSONALL) - 30

Description

This driver is used to read in the Sonardyne Fusion $PSONALL message format which contains grid position, depth, heading, course made good, pitch, roll, speed over ground, position accuracy and depth accuracy.

In order to read this information into Qinsy the following system types are supported by this driver:
Position Navigation System, Underwater Sensor, Gyro and Compass System, Speed Log, Pitch, Roll and Heave Sensor.

  • The Position Navigation System is used to decode the grid easting and northing fields in the format.
    This grid position is presumed to be on Survey Datum and Survey Projection. The Underwater Sensor is used to decode the depth field.
    The depth field is expected to use the actual sea level reference.
  • The Gyro and Compass System is used to decode the heading field in the format.
    The heading is converted to true north, depending on the heading type field.
  • The Speed Log system is used to decode the course made good and the speed over ground fields.
    The course made good is converted to grid north depending on the heading type field.
  • The Pitch, Roll and Heave Sensor is used to decode the pitch and roll fields in the format.