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Network (UDP) - iXblue Std Bin (UTC) - 23

Description

This is a driver with user-interface in order to encode messages for - and decode messages from an iXblue INS that supports the STD BIN protocol.

Info

Note that the input of this driver works with versions 1 - 5 of the iXblue standard binary protocol.

Note that the output of this driver only works with version 3 and higher of the iXblue standard binary protocol.

During normal operation the INS will establish an accurate position for the ROV based on the integration of Inertial, Doppler, USBL, Depth Sensor and Surface Positioning (Computation Node Result) information.

This driver can send the necessary surface positioning information to the INS in order to enhance the INS solution. At the same time it will read and decode the integrated accurate ROV position and attitude data, which can be used in a separate Computation.


There are 3 versions of this driver:

  1. Serial 

  2. Network - TCP

  3. Network - UDP

The user-interface for all drivers is exactly the same, only the I/O protocol is different.

See also the Interfacing Notes at the System Interfacing tab.

In case your setup does not require to receive any data from the unit, and you only need to send data to the INS, see the additional comment in the Output setup section at the Qinsy Config tab.

Driver Information

Click here to expand Driver Information

Driver

iXblue std bin INS

Interface Type

Serial / UDP / TCP

Driver Class Type

counted

UTC Driver (question)

 Yes

Input / Output

Input and Output 

Executable

DrvQPSCountedUI.exe
DrvQPSCountedUIUDP.exe
DrvQPSCountedUITCP.exe

Related Systems

Related Pages

Decoding Notes

Click here to expand...

The following data blocks can be received and decoded from the INS:

  • Position navigation system

Slot ID

What is it?

INS

Position result from the INS

GPS1

Position input from GPS 1 as setup in the INS

GPS2

Position input from GPS 2 as setup in the INS

GPSMANUAL

Manual position that was set in the INS

USBL1

Position input from USBL 1 as setup in the INS

USBL2

Position input from USBL 2 as setup in the INS

USBL3

Position input from USBL 3 as setup in the INS

LBLX_BYY

Position input from LBLX (1,2,3,4) data block, beacon with ID BXX (e.g. B01, B02, etc.) as setup in the INS

For the INS position result the driver will utilize INS user statuses to determine a solution mode see also the following table below.
(For further details see also iXblue Interface Library > Status Description > User Status)

INS Status

INS Solution Mode

Description

Failure Mode

-3

The status when the INS system results are not reliable

Time Invalid

-2

When system indicates that the time is not synchronized and ‘UTC’ driver is used

0

“Unknown” status for when status message is missing

Alignment

1

During the period when system is initializing

Fine Alignment

2

The status after initializing but still but not yet fully operation

Degraded

3

Degraded is the status when multiple position updates are missed and the INS is drifting

Navigation

4

Navigation is the normal status when fully operational

  • Pitch Roll Heave Sensor
    In order to decode the Pitch Roll Heave Sensor data block the user does not need to enter any slot information.
    The Quality indicators is based on the following table for pitch, roll and heave.

AHRS Status

Quality Indicator

Description

HRP Invalid

-3

Status during in initializing or when a failure occurred

Time Invalid

-2

When system indicates that the time is not synchronized and ‘UTC’ driver is used

0

“Unknown” status for when status message is missing

1

“Normal” status for when no invalid state reported

Standard Deviation

When SD value is available and status is in Unknown or Normal

  • Gyro compass

Slot ID

Data block

Comment

Quality

HEADING

Gyro Compass data block

Make sure to enter it using capitals

Follows the table above of Pitch Roll Heave Sensor

  • Surface navigation

    • LBL1, LBL2, LBL3, LBL4

    • Quality indicators for LBL observation are the SDs.

  • Time synchronization system

    • External UTC

  • Speed log
    Based on the selected slot, the following data elements can be decoded by the speed log system:

Observation type

Slot

Data block

Value

Quality

Bearing

COG

Course and speed over ground

Course over ground

None

Speed

SOG

Speed over ground

None

EMLOG1

EMLOG1 data block

Longitudinal water speed

Speed standard deviation

EMLOG2

EMLOG2 data block

Longitudinal water speed

Speed standard deviation

DVL1W_SPD

DVL1 Water speed data block

Speed vector calculated from longitudinal speed and transverse speed



None


DVL1G_SPD

DVL1 Ground speed data block

DVL2W_SPD

DVL2 Water speed data block

DVL2G_SPD

DVL2 Ground speed data block

Angle

DVL1W_ANG

DVL1 Water speed data block

Angle created calculated from longitudinal speed and transverse speed

None

DVL1G_ANG

DVL1 Ground speed data block

DVL2W_ANG

DVL2 Water speed data block

DVL2G_ANG

DVL2 Ground speed data block

  • Underwater Sensor

Observation type

Slot

Data block

Value

Quality

ROV Depth

DEPTH

Depth data (Raw)

Depth

Depth standard deviation

ROV Depth

INS_HEIGHT

INS Position Height result

-Height

INS Position Height standard deviation

Sound velocity

SOUND_VELO

External Sound velocity

External sensor speed of sound

None

Sound velocity

DVL1G_SND

DVL Ground Speed

DVL speed of sound

None

ROV altitude

DVL1G_ALT

DVL altitude (bottom range)

None

Sound velocity

DVL1W_SND

DVL Water speed

DVL speed of sound

None

Sound velocity

DVL2G_SND

DVL Ground Speed 2

DVL speed of sound

None

ROV altitude

DVL2G_ALT

DVL altitude (bottom range)

None

Sound velocity

DVL2W_SND

DVL Water speed 2

DVL speed of sound

None

  • Acceleration, velocity and rotation rate
    Based on the selected slot, the following data elements can be decoded by the acceleration, velocity and rotation rate system:

Observation type

Slot

Data block

Value

Quality

Northing Speed

NORTH_VELO

Speed data block in geographic frame


North velocity

North velocity std. deviation

Easting Speed

EAST_VELO

East velocity

East velocity std. deviation

Vertical Speed

HGT_VELO

Up velocity

Up velocity std. deviation

Velocity Y

XV1_VELO

Speed data block in vessel frame

VX1 velocity

None

Velocity X

XV2_VELO

VX2 velocity

Velocity Z

XV3_VELO

VX3 velocity

Acceleration Y

XV1_ACCL

Accelerations data block in vessel frame

Acceleration XV1

None

Acceleration X

XV2_ACCL

Acceleration XV2

Acceleration Z

XV3_ACCL

Acceleration XV3

Rate of turn Y

XV1_RATE

Body rotation rates data block in vessel frame

Rotation rate XV1

None

Rate of turn X

XV2_RATE

Rotation rate XV2

Rate of turn Z

XV3_RATE

Rotation rate XV

  • Miscellaneous
    Most elements of the protocol are available as a Miscellaneous observation. To decode these elements as generic observations just add the standard "iXblue Std Bin" driver to your setup (or the network UDP / TCP variant).
    The table below will show which slot IDs to use for each data element.

    Note that there is an additional miscellaneous driver: "iXblue Std Bin (Smart Heave)". See slot 'SMART' in the table below.
    When this driver is part of your setup then smart heave will be recorded to an external binary and/or ASCII file.

Slot

data block

value

Quality

TEMP_FOG

Temperatures

Mean temperature FOG

None

TEMP_ACC

Mean temperature ACC

None

TEMP_ANA

Sensor board temperature

None

HEAVE

Heave/Surge/Sway

Real time heave at selected lever arm

None

SWAY

Real time sway at selected lever arm

None

SURGE

Real time surge at selected lever arm

None

HEAVE_RAW

Real time heave without lever arm

None

SMART

Smart Heave

Smart Heave At primary lever arm

This Slot Id is only supported by additional Miscellaneous driver "iXblue Std Bin (Smart Heave)"

None

HDG_RATE

Heading/Roll/Pitch rate


Heading rotation rate

None

ROLL_RATE

Roll rotation rate

None

PITCH_RATE

Pitch rotation rate

None

CURR_VELO

 Current data block in geographic frame

Current speed vector calculated from north and east current

Square root of the TPU computed from eat and north SD

CURR_DIR

Current direction calculated from north and east current

Square root of the TPU computed from eat and north SD

HEAVE_VELO

Heave/Surge/Sway speed


Real time heave speed (at selected lever arm)

None

SWAY_VELO

Sway speed (at selected lever arm)

None

SURGE_VELO

Surge speed (at selected lever arm)

None

EAST_ACCL

Acceleration data block in geographic frame

North acceleration

None

NORTH_ACCL

East acceleration

None

HGT_ACCL

Vertical acceleration

None

DMI_COUNT

 DMI data block

Pulse count

None

EVENT_A

Event marker A data blocks

Event count

None

EVENT_B

Event marker B data blocks

Event count

None

EVENT_C

Event marker C data blocks

Event count

None

DVL1G_XV1

 DVL1 Ground speed data block

XV1 longitudinal ground speed

XV1 speed standard deviation

DVL1G_XV2

XV2 transverse ground speed

XV2 speed standard deviation

DVL1G_XV3

XV3 vertical ground speed

XV3 speed standard deviation

DVL1W_XV1

 DVL1 Water speed data block

XV1 longitudinal water speed

XV1 speed standard deviation

DVL1W_XV2

XV2 transverse water speed

XV2 speed standard deviation

DVL1W_XV3

XV3 vertical water speed

XV3 speed standard deviation

DVL2G_XV1

 DVL2 Ground speed data block

XV1 longitudinal ground speed

XV1 speed standard deviation

DVL2G_XV2

XV2 transverse ground speed

XV2 speed standard deviation

DVL2G_XV3

XV3 vertical ground speed

XV3 speed standard deviation

DVL2W_XV1

 DVL2 Water speed data block

XV1 longitudinal water speed

XV1 speed standard deviation

DVL2W_XV2

XV2 transverse water speed

XV2 speed standard deviation

DVL2W_XV3

XV3 vertical water speed

XV3 speed standard deviation

INSSENST1

AHRS or INS Sensor Status

Sensor Status 1

None

INSSENST2

Sensor Status 2

None

INSALGST1

INS Algorithm Status




Algorithm Status 1

None


INSALGST2

Algorithm Status 2

INSALGST3

Algorithm Status 3

INSALGST4

Algorithm Status 4

INSSYSST1

INS system status

System Status 1

None

INSSYSST2

System Status 2

INSSYSST3

System Status 3

INSUSRST

INS User Status

User Status

None

AHRALGST

AHRS Algorithm

Algorithm Status

None

AHRSYSST1

AHRS System Status

System Status 1

None


AHRSYSST2

System Status 1

AHRSYSST3

System Status 1

AHRUSRST1

AHRS User Status

User Status

None

Encoding Notes

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The following messages can be sent to the INS:

  • USBL1 / USBL2 / USBL3
    This message contains the ROV position, as computed by Qinsy using USBL or LBL information.

  • GPS1 / GPS2 / Manual GPS
    This message contains the vessel's launch point position, as computed by Qinsy using GPS or RTK information.

  • UTC
    This message contains the exact UTC time for the time of output, from the Qinsy Time Synchronization system.

It is the user's responsibility which message or combination of messages are being sent to the INS and at which output rate.

Interfacing Notes

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Input

  • Navigation Data Message (Incoming)


    For this driver we would strongly advise to interface the INS unit with an external PPS/UTC input, this allows the driver to use the time from the decoded messages in order to timestamp the data.

    This can be achieved when the following criteria are met:

    • The so-called 'UTC' driver is selected

    • Your template setup has a valid Time Synchronization (PPS) system

In the situation that the INS reports that it’s time synchronization is invalid (See also iXblue Interface Library > Status Description > User Status) and the ‘UTC’ driver is used.
The incoming data will be time stamped on arrival and the Solution mode or Quality Indicator will be -2.

Output

  • Std Bin USBL Position Message (Outgoing)
    The time inside the output message will be the exact time (UTC) for the computed ROV node position.
    In case option Deskew ROV Node Output is enabled, then it will be the exact moment of output.

  • Std Bin Vessel Launch Position Message (Outgoing)
    The time inside the output message will be the exact time (UTC) for the computed launch node position.
    In case option Deskew Launch Node Output is enabled, then it will be the exact moment of output.

System Config

This part explains how to set up the iXblue web interface.

Click here to expand...

Output

  1. Only work with Version 3 of the Std Bin format.

  2. Make sure to set up the correct Lever Arm and that it corresponds with what is set up in Qinsy. (In one or the other, not both)

  3. Recommended update Rate is 20-25 Hz with a max of 50 Hz.

  4. You can still log Smart heave via a Miscellaneous system in Qinsy if Real Time Heave is selected here.

  5. Either Serial or Network can be selected here.

  6. The following network options work for Qinsy:

    • UDP (example above)

    • UDP Broadcast

    • TCP Server

Input

Network settings

  1. Select the input of which you want to change the settings

  2. Select the iXblue Std Bin format

  3. Both Ethernet and Serial can be used.

  4. If Ethernet is selected then the following options can be used:

    • UDP (example above)

    • UDP Broadcast

    • TCP Server

  5. Enter the IP address of the Qinsy PC

  6. Qinsy sends the data back on port + 1.
    In Output port 8111 was entered so in this case Qinsy will send back on 8112.

GNSS settings

  1. In this example GPS1 is selected. Make sure the same is set for the USBL ID in the Qinsy User interface.

  2. Make sure to set up the correct Lever Arm and that it corresponds with what is set up in Qinsy. (In one or the other, not both)

USBL Settings

  1. In this example USBL 1 is selected. Make sure the same is set for the USBL ID in the Qinsy User interface.

  2. Make sure this Lever Arm matches with what was set up in Qinsy.

  3. No need to enter a TP Code.

UTC Settings

  1. Select the UTC item

  2. Select the correct pulse port

  3. Make sure this is set up correctly, especially the order of Pulse and Time.

Qinsy Configuration


All systems can be set up as normal in Qinsy Database Setup, using the slot IDs described below, to determine which source of data to use.
More information can be found under the tab Coding Notes.

General driver info

Port number

Should be the same as the output port on the iXblue web interface.

IP address

Default is 192.168.36.xxx
xxx is the last part of the serial number of the unit.

There are 3 options on how to work with this driver:

Input only

No output selected in the online user interface

Input & Output

Serial

  • Input and output on the same COM port

UDP

  • Input on the port set up in the template

  • Output on port +1

TCP

  • Input on the port set up in the template

  • Output on port +1

Output only

Only add an output driver.

Qinsy will output on the port that is selected in the template.

Position Navigation system

Click here to expand...

Receiver number

Slot ID

What is it?

INS

Position result from the INS

GPS1

Position input from GPS 1 as set up in the INS

GPS2

Position input from GPS 2 as set up in the INS

GPSMANUAL

Manual position that was set in the INS

USBL1

Position input from USBL 1 as set up in the INS

USBL2

Position input from USBL 2 as set up in the INS

USBL3

Position input from USBL 3 as set up in the INS

LBL<X>_B<Y>

Position input from LBLX (where X is 1,2,3, or 4) with beacon ID in the range "B00" through "B99"

Info
Make sure that the system outputs beacon IDs in the supported range. The user can set the beacon IDs in the RAMSES software. Qinsy will only be able to decode data from beacons with an ID that starts with a capital B and is followed by two digits. E.g. "B00", "B01", ..., "B99"

Receiver Positions

Select the datum the INS is outputting on.

Gyro Compass

Click here to expand...

Slot ID

Enter HEADING in order to decode the heading message.

Pitch Roll Heave Sensor

Click here to expand...

Node (Lever Arm):

Make sure this offset matches with the Lever Arm selected in the iXblue web-interface.

Conventions

Item

Convention

Roll

Positive heeling to starboard

Pitch

Positive bow down

Heave

Positive upwards

Underwater Sensor

Click here to expand...
  • After setting up the communication on the first page you can now Add the observations you want to decode:

  • Select the correct Observation and Location.

Observation Type

You can select one of the following options:

  • ROV Depth

  • ROV Altitude

  • Draft

  • Pressure

  • Sound Velocity

  • Revolution

Location -  At Node

Location of sensor in iXblue web interface.

  • Make sure to select the correct Slot Value. See tab page Coding Notes for more information.

    Note that there are two ROV Depth observations available: one with Slot "DEPTH" and the other one with Slot "INS_HEIGHT".
    The first one will decode the raw depth reading as reported by the external depth sensor and the latter will use the decoded height from the INS position but with reversed sign.

  • Select the correct Unit and enter corrections if required.

ARPA System

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The ARPA system can be used to expose LBL or USBL their positions. In order to set this up a selection of the vessel object and the object its radar antenna.

Output (Only)

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  • You do not need to define an extra output driver in the template setup. The driver will automatically output the messages to the same port as the incoming data.

    In case your setup does not require decoding of any incoming message from the unit, and you only have to output data to the INS, then you can select driver "iXblue Std Bin (Output only)", or "Network (TCP) - iXblue Std Bin (Output only)". 

Qinsy Online

The driver has user-interface, and therefore will always be present in the Windows task bar.

When going on-line for the first time, locate the driver, and change the Setup parameters:

Output datum

Note that the default Output datum is Survey Datum (Project datum).

Driver online user interface

Driver User Interface pages

Click here to expand...

Driver Layout Menu: Setup

VESSEL SETUP

Vessel:

Select from the available defined objects the vessel from which the ROV will be launched.

Launch Point Computation:

Select the computation for the launch point of the ROV on the vessel. This output of this computation will be used for the GPS1 message.

Launch Point Node:

Select the node for the launch point of the ROV on the vessel. This node will be output as the GPS1 message.

GNSS Identification:

This setting should match with the setting on the input page of the iXblue interface. Options are:

  • GPS 1

  • GPS 2

  • Manual GPS

If GNSS 1 is set in the iXblue web interface like shown in the picture:

You should select GPS 1 as well in the Qinsy user interface.

Launch Point Quality:

Select whether to use the qualities computed by the Computation (based on the SDs configured in Database Setup) or Manual qualities for the message.

Manual:

Manual quality values for the GPS1 message.

Enter the following values comma-separated: quality, latitude SD, longitude SD, height SD, latitude/longitude covariance.

Quality

Also known as Solution mode.

Quality indicator

Corresponding SD attributed to GPS position fix if no GST is received

Positioning system mode indicator

0

Data invalid

N/A

1

10 m

Natural

2

3 m

Differential

3

10 m

Military

4

0.1 m

RTK

5

  1. 3 m

Float RTK

6-25

Data invalid

Other mode

Latitude SD

Standard deviation of the Latitude

Longitude SD

Standard deviation of the Longitude

Height SD

Standard deviation of the Height

Latitude/Longitude covariance

Also known as HDOP

ROV USBL POSITIONING

ROV:

Select the ROV object.

ROV Computation:

Select the computation that is used to compute the position of the ROV under water.

ROV Node:

Select the node for which the calculated position should be sent to the INS in the USBL1 message.

USBL Identification:

This setting should match with the setting on the input page of the iXblue interface. Options are:

  • USBL 1

  • USBL 2

  • USBL 3

If USBL 1 is set in the iXblue web interface like shown in the picture:

You should select USBL 1 as well in the Qinsy user interface.

Manual

Manual quality values for the USBL1 message.

Enter the following values comma-separated: latitude SD, longitude SD, height SD, latitude/longitude covariance.

Latitude SD

Standard deviation of the Latitude

Longitude SD

Standard deviation of the Longitude

Height SD

Standard deviation of the Height

Latitude/Longitude covariance

Also known as HDOP

Driver Layout Menu: Results

Example sending Launch Point position

Example sending ROV position

Info

Note that either Launch Point or ROV data is shown based on which message is sent to the INS.

Launch point data is shown when GPS data is sent to the INS, ROV data is shown when USBL data is sent.

Output

Launch Point / ROV:

The last encoded position for the selected Launch Point Node which will be outputted.

Displayed are the [Update Time], Latitude, Longitude and height.

  • Lat/Long: Survey datum

  • Height: Chart Datum

Launch Point / ROV Quality:

The last encoded quality figures.

Displayed are quality, latitude SD, longitude SD, height SD, latitude/longitude covariance.

Input

INS Position:

The last decoded position data from the position data block.

Displayed are the [Update Time], Latitude, Longitude and height.

  • Lat/Long: Survey datum

  • Height: Chart Datum

INS Attitude:

The last decoded attitude data from the Attitude & Heading data block.

Displayed are the [Update Time], the Heading, Pitch and Roll.

INS Velocity:

The last decoded three axis velocity data from the Speed data block in vessel frame.

Displayed are the [Update Time], Velocity XV1, XV2 and XV3.

INS Time:

The last decoded time information from the extUTC data block.

Displayed is the UTC time.

Driver Layout Menu: Options

 

Lock Settings

Enables locking the user-interface settings of the Setup and Options menu, in order to prevent making changes by mistake.
If this option is not present, then you may find a shortcut to this option in the menu under the dialog's upper-left icon.

Show Tooltips

When hovering the mouse over the left column rows, you will get some more information. Disable if this becomes annoying...
If this option is not present, then you may find a shortcut to this option in the menu under the dialog's upper-left icon.

iXblue INS Output:

  • UTC + USBL
    Output both UTC and USBL messages. This option is only useful when the ROV is in the water.

  • UTC + GPS
    Output both UTC and GPS messages. This option is only useful when the ROV is not in the water yet.

  • USBL
    Output USBL messages. This option is only useful when the ROV is in the water.

  • GPS
    Output GPS messages. This option is only useful when the ROV is not in the water yet.

  • UTC
    Output the UTC message. No position information is send to the INS, only time information.

  • [No Output]
    Disable any output. When there is no need to output data back a system, you can hide the UI via the Controller → Settings → Driver Settings → Taskbar settings.

UTC Output:

Select the desired output update rate for the UTC message. Output of this message can only be triggered on time. Every second is recommended.

GPS Output:

Select the desired output update rate for the GPS message. Output of this message can only be triggered on time.
The position source is defined in the Setup menu under Vessel Setup.

USBL Position:

Select the desired output update rate for the USBL message. The output rate is defined as a fraction of the update rate of the computation was chosen in the setup.

Optionally, a 'maximum age' can be used. If this option is selected, the last sent USBL position will be resent if the maximum age expires before a new result has been computed.

Max age

Only available when 'From system [every trigger + max age]' is selected under 'USBL position'
The maximum age of the USBL output. The last sent USBL position will be resent after this many seconds if no new result has been computed.

Output datum

By default this would be on source datum (normally WGS'84).

With this option the user may force the outputted position to be on Survey datum.

Deskew Launch Node Output:

Select Yes in order to skew the time and position of the launch point node to the time of output (GPS message), using the current SOG and COG. Note that the SOG and COG depend on the Controller's Computation Setup, Object COG/SOG - Prediction Parameters Settings. The height value is not deskewed.

Deskew ROV Node Output:

Select Yes in order to skew the time and position of the ROV node to the time of output (USBL message), using the current SOG and COG. Note that the SOG and COG depend on the Controller's Computation Setup, Object COG/SOG - Prediction Parameters Settings.
The height value is not deskewed.

Dialog Buttons

Setup

Invoke the Setup Menu

Results

Invoke the Results Menu

Options

Invoke the Options Menu

Clear

Will clear the messages displayed below.
Note that at the moment (Qinsy 9.3.0) nothing is shown.

Hiding user interface

Click here to expand...

It is possible, once the driver is set up or when no output is required to hide the user interface.

The option to do this can be found here:

  1. Open the "Driver Settings" from the Qinsy Controller

  2. Then with the checkbox you can hide it

Also, if you are just using the driver to decode information and not to output to an INS, you can hide the UI.

Display - Generic

Click here to expand...

Received

Data is sent in the correct format and is decoded.

Valid

The decoded data is accepted by the algorithm and is also being used by the algorithm.

Waiting

No data received.

Rejected

The decoded data is not accepted by the algorithm and therefore not used by the algorithm.

You can download the above display example XML here: iXblue - Std Bin format - Status.xml

  • Add a Generic Display

  • Open the above XML

Note that you need to add the following miscellaneous observations to decode these:

  • To your Template:

  • To the Generic Layout Editor when Online:

Adding extra items

In case you want to add more items yourself you'll need the iXblue manual and take the following steps:

  1. Go to Raw Data → Observation Systems

  2. Add

  3. Check the iXblue manual on what you want to decode and in which message it can be found

  4. Select the same one here

  5. Add a Value item

  6. Add a mask for Operator

  7. Check what the Status value is

  8. Open a Programmer calculator and enter it as a Hexadecimal value

  9. Check what the corresponding Decimal result is

  10. Enter this as Operator Value

  11. Add a Translation, example below:

    Result will either be 0.00 or 1.00.

  12. Select on what you would like to show.

Viewing ARPA targets

Click here to expand...

In order to view any LBL or USBL beacon as an ARPA target a Navigation Display must be added.

  1. Adding the navigation display can be done through Options on the menu bar

  2. Press Display Manager...

  3. Within the Display Manager, a display can be added using the Add display option. 

  4. Give it an appropriate title and select 

  5. Press OK to add it.

In order to see these targets the navigation display may need additional configuration

  1. Within the navigation display right click anywhere in the display to open up the context menu and press View Properties...

  2. Within the properties navigate to Layers >  Targets and make sure to have Other system targets ticked.

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