In order to decode the position from the system, add a Position Navigation System to the template and select driver "CDL MiniPOS3 (Binary) Position".
On the second wizard page, select for Horizontal Datum 'WGS84', but for Vertical Datum select the Mean Sea Level Model (because the height will be derived from the decoded depth, with a negative sign). However, it is highly recommended to set the Height Status to 'Unreliable' in the on-line Computation Setup, in combination with the use of an ROV Depth observation (see below).
In order to decode the heading from the system, add a Gyro Compass System to the template and select driver "CDL MiniPOS3 (Binary) Heading".
Use the same I/O parameters (COMport, baudrate, etc.).
In order to decode the pitch and roll (there is no heave) from the MiniPOS3, add a Pitch, Roll and Heave Sensor System to the template and select driver "CDL MiniPOS3 (Binary) R-P-H". Use the same I/O parameters.
Notice that the exact pitch and roll conventions (second wizard page) are not known at the time of this writing.
In order to decode a depth observation from the MiniPOS3, add an Underwater Sensor to the template and select driver "CDL MiniPOS3 (Binary) Depth & Altitude". Use the same I/O parameters.
On the second wizard page, add an ROV Depth observation. Select for At Node the correct node on the ROV object.
You may also decode the altitude (or height above bottom) which comes directly from a valid Doppler input into the MiniPOS3:
Add an ROV Altitude observation, and select for the At Node the bathy sensor location on the ROV object.
The units on the last wizard page must be Meters.
Notice that this type of observation is not used by the Computation Setup, but it will be decoded, displayed and stored.
In order to decode velocities, accelerations along and rotation rates around the three axes, add an Acceleration Velocity Sensor system to your database and select the driver "CDL MiniPOS3 (Binary) Velo, Acc, Rot". Use the same I/O parameters.
Add the following observations on the second wizard page: Velocity (Easting Speed, Northing Speed and Vertical Speed), Acceleration (X, Y and Z) and/or Rate-Of-Turn (X, Y and Z).
On the next wizard page, select for the velocity observation unit: Meters / Second, for the acceleration observations: Meters / Second^2, and for the rate-of-turn select Degrees / Second.
In order to decode status information from the MiniPOS3, add a Miscellaneous System to the template and select driver "CDL MiniPOS3 (Binary) Status". Use the same I/O parameters.
On the second wizard page, add the following seven Generic observations:
Observation representing the System Mode, with Slot ID 'SYSTEMMODE'
Observation representing the Navigation Monitor, with Slot ID 'NAVMONITOR'
Observation representing the Operational Event Flags, with Slot ID'OPSEVENTS'
Observation representing the Input Data Validity Logicals, with Slot ID 'INPUTDATA'
Observation representing the Mode Control Logicals, with Slot ID 'CNTRLMODE'
Observation representing the Control Data, with Slot ID 'CNTRLDATA'
Observation representing the Cycle Counter, with Slot ID 'COUNTER'
All Slot ID's in capitals.
It is recommended to use a Generic Display on-line in order to visualize the individual status information. In the Generic Layout Editor you may use the 'MASK' operator e.g. for the Navigation Monitor value, in order to extract the individual 'bit' information.
Download Generic Display Layout XML from this link as example.
(Copy the file into the current Project's \Settings\Display folder, and open it using a new Generic Display. Do not forget to select the correct system and observations).
Furthermore, you do not need to define an extra output driver in the template setup. The driver will automatically output the USBL Position messages to the same COMport as the incoming data.
The output update rate can be selected while on-line. The information in the USBL Position message depends on the settings as selected by the user in the Setup menu. See for more information below in the Online Setup.