Drivers Manual

Description

Driver to be used to decode USBL X, Y, Z measurements to a target plus additional measurements such as vessel heading, roll, pitch & warning/error code.
Driver can be used to decode ORE Trackpoint II ASCII Formats and NUWC TCT - TO (=Tracked Object) ASCII Format.

Two versions of the driver are available: a Serial version and a Network version (UDP). If a network driver for the Trackpoint II is required the NUWC TCT - TO driver can be used.
The internal workings of the drivers are the same except for the data reception.

Driver Information

Driver	NUWC TCT-TO Trackpoint II	Interface Type	UDP/Serial	Driver Class Type	Terminated <LF>
UTC Driver	No	Input / Output	Input	Executable	DrvUsblTerminatedUdp.exe ORE_TRACKPOINT DrvUsblTerminated.exe ORE_TRACKPOINT
Related Systems	Page: Network - NUWC TCT-TO - 02 — USBL System Page: Network - NUWC TCT-TO - 33 — ARPA System Page: NUWC TCT-TO - 02 — USBL System Page: NUWC TCT-TO - 33 — ARPA System Page: Trackpoint II - 02 — USBL System Page: Trackpoint II - 05 — Gyro Compass Page: Trackpoint II - 23 — Miscellaneous System Page: Trackpoint II - 33 — ARPA System
Related Pages

Decoding Notes

If the driver encounters a warning/error code in range 1 to 10 the update is ignored by the driver and therefore also isn't stored in the database.

Currently the following warning/error codes are known to us:

*Error code*	*Description*
0	No errors detected
1	Unusable signal received
2	Signal timing error
3	Range cannot be determined
4	Low quality factor
5	Target velocity excessive
6	No recent replies
7	Minimum range error
8	Simultaneous reply error
9	Transmitter inoperative
10	Travel time less than turn around time
14	Maximum slant range exceeded
15	Bearing limits exceeded
22	Telemetry signal timing error
23	Telemetry timing out of range
24	Telemetered depth greater than slant range
26	No recent telemetry replies
50	Target input depth not within normal limits of calculated depth
51	Pinger depression angle < 20 deg (including hydrophone offsets)
52	Pinger depression angle < 20 deg
53	Pinger depression angle 20 - 45. Position approximated
54	Target center mode cancelled
55	Compass not active
56	Transponder or Responder depression angle > 45 deg
57	Depth > slant range
59	No external key received within wait period. Target was internally keyed
60	System ignores phase count depression angle. Using slant range & input depth.
61	Calculated horizontal range > slant range
62	System performing auto offset function
64	Low quality factor

Note: warning codes do not apply to NUWC-TO format.

NUWC-TO:

The X,Y,Z, values are calculated from horizontal range and bearing (X,Y) and slant range and depression angle (Z).

The timestamp from the message is decoded as observation time (but only if a PPS system is defined in QINSy Template), the time-of-arrival time stamp is ignored.

UDP Version:

The UDP driver will only decode the formats successfully if a full message arrives per network packet.
If a message arrives scattered over multiple packets then it will not decode.

Database Setup

NUWC-TO format

Slot numbers

In order to decode transponder data it is necessary to enter the complete 'Tracked Object Identifier' (as found in the data string from the tracking computer) as slot number in Database Setup.
For instance, if transponder 3, upper transducer, raw data is required then use slot 'AU03'; lower transducer raw data -> 'AL03'.

USBLl system setup

In order to use transponder data for both usbl transducers (lower and upper) you should define two usbl systems: one for the upper transducer, one for the lower transducer.
If the communication parameters (com port number, baudrate etc.) are kept the same then only a single driver (reading from one comport) is started that will support both systems.
Add transponders 'xUxx' to the upper system and 'xLxx' to the lower system.

Choose per usbl system either only raw data (A) or Tracked data(T) transponders since the transducer location differs per data type: for A the range/bearing refers to the transducer array, for T it refers to the submarine reference point.
Note: Units should be set to feet.

Compass Heading

To decode the compass heading field, add a "System" of type "Gyro", select the driver, and define the heading parameters.
To decode all four observations (USBL range/bearing/depth and gyro heading), add both these system types to the QINSy database and make sure to select the same driver name and the same I/O parameters for both systems (does not apply to NUWC-TO format).

For the Slot Id enter the exact USBL target number.

Target bearing, depression angle, slant range and telemetry

To decode the target bearing, depression angle, slant range, telemetry and warning code fields of the NUWC & NUWC-EC formatted string, add a "System" of type "Miscellaneous", select the driver, and define 5 observation with the Slot 2 set using the following table.
In this case the "Slot 1" field is still used to designate the USBL target number for which you want to decode this data (does not apply to NUWC-TO format).

*Observation*	Slot 1	Slot 2
Target bearing	<USBL target number>	Bearing
Depression angle	<USBL target number>	VertAngle
Slant range	<USBL target number>	Range
Telemetry	<USBL target number>	Telemetry
Warning code	<USBL target number>	Warning

Below you will find an example for "target 1":