Seapath Binary Format 26 (Delayed Heave) - 23

Description

Driver which can 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 Information

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 DrvQPSCountedTCP.exe SEAPATH_BIN26 PPS NOCS DrvQPSCountedTCP.exe SEAPATH_BIN23 PPS DrvQPSCountedTCP.exe SEAPATH_BIN23 PPS NOCS DrvQPSCountedUDP.exe SEAPATH_BIN26 PPS DrvQPSCountedUDP.exe SEAPATH_BIN26 PPS NOCS DrvQPSCountedUDP.exe SEAPATH_BIN23 PPS DrvQPSCountedUDP.exe SEAPATH_BIN23 PPS NOCS DrvQPSCounted.exe SEAPATH_BIN26 PPS DrvQPSCounted.exe SEAPATH_BIN26 PPS NOCS DrvQPSCounted.exe SEAPATH_BIN23 PPS DrvQPSCounted.exe SEAPATH_BIN23 PPS NOCS
Related Systems	Network (TCP) - Seapath Binary Format 23 (heading) (UTC) - 05 Gyro Network (TCP) - Seapath Binary Format 23 (heading) (UTC) (NOCS) - 05 Gyro Network (TCP) - Seapath Binary Format 23 Position (UTC) - 12 Position Navigation System Network (TCP) - Seapath Binary Format 23 Position (UTC) (NOCS) - 12 Position Navigation System Network (TCP) - Seapath Binary Format 23 R-P-H (UTC) - 03 Pitch Roll Heave Sensor Network (TCP) - Seapath Binary Format 23 R-P-H (UTC) (NOCS) - 03 Pitch Roll Heave Sensor Network (TCP) - Seapath Binary Format 23 Vel, RoT (UTC) - 42 Acceleration Velocity Sensor Network (TCP) - Seapath Binary Format 23 Vel, RoT (UTC) (NOCS) - 42 Acceleration Velocity Sensor Network (TCP) - Seapath Binary Format 26 (Delayed Heave) - 23 Miscellaneous System Network (TCP) - Seapath Binary Format 26 (heading) (UTC) - 05 Gyro Network (TCP) - Seapath Binary Format 26 (heading) (UTC) (NOCS) - 05 Gyro Network (TCP) - Seapath Binary Format 26 Position (UTC) - 12 Position Navigation System Network (TCP) - Seapath Binary Format 26 Position (UTC) (NOCS) - 12 Position Navigation System Network (TCP) - Seapath Binary Format 26 R-P-H (UTC) - 03 Pitch Roll Heave Sensor Network (TCP) - Seapath Binary Format 26 R-P-H (UTC) (NOCS) - 03 Pitch Roll Heave Sensor Network (TCP) - Seapath Binary Format 26 Vel, RoT (UTC) - 42 Acceleration Velocity Sensor Network (TCP) - Seapath Binary Format 26 Vel, RoT (UTC) (NOCS) - 42 Acceleration Velocity Sensor Network (UDP) - Seapath Binary Format 23 (heading) (UTC) - 05 Gyro Network (UDP) - Seapath Binary Format 23 (heading) (UTC) (NOCS) - 05 Gyro Network (UDP) - Seapath Binary Format 23 Position (UTC) - 12 Position Navigation System Network (UDP) - Seapath Binary Format 23 Position (UTC) (NOCS) - 12 Position Navigation System Network (UDP) - Seapath Binary Format 23 R-P-H (UTC) - 03 Pitch Roll Heave Sensor Network (UDP) - Seapath Binary Format 23 R-P-H (UTC) (NOCS) - 03 Pitch Roll Heave Sensor Network (UDP) - Seapath Binary Format 23 Vel, RoT (UTC) - 42 Acceleration Velocity Sensor Network (UDP) - Seapath Binary Format 23 Vel, RoT (UTC) (NOCS) - 42 Acceleration Velocity Sensor Network (UDP) - Seapath Binary Format 26 (Delayed Heave) - 23 Miscellaneous System Network (UDP) - Seapath Binary Format 26 (heading) (UTC) - 05 Gyro Network (UDP) - Seapath Binary Format 26 (heading) (UTC) (NOCS) - 05 Gyro Network (UDP) - Seapath Binary Format 26 Position (UTC) - 12 Position Navigation System Network (UDP) - Seapath Binary Format 26 Position (UTC) (NOCS) - 12 Position Navigation System Network (UDP) - Seapath Binary Format 26 R-P-H (UTC) - 03 Pitch Roll Heave Sensor Network (UDP) - Seapath Binary Format 26 R-P-H (UTC) (NOCS) - 03 Pitch Roll Heave Sensor Network (UDP) - Seapath Binary Format 26 Vel, RoT (UTC) - 42 Acceleration Velocity Sensor Network (UDP) - Seapath Binary Format 26 Vel, RoT (UTC) (NOCS) - 42 Acceleration Velocity Sensor Seapath Binary Format 23 (heading) (UTC) - 05 Gyro Seapath Binary Format 23 (heading) (UTC) (NOCS) - 05 Gyro Seapath Binary Format 23 Position (UTC) - 12 Position Navigation System Seapath Binary Format 23 Position (UTC) (NOCS) - 12 Position Navigation System Seapath Binary Format 23 R-P-H (UTC) - 03 Pitch Roll Heave Sensor Seapath Binary Format 23 R-P-H (UTC) (NOCS) - 03 Pitch Roll Heave Sensor Seapath Binary Format 23 Vel, RoT (UTC) - 42 Acceleration Velocity Sensor Seapath Binary Format 23 Vel, RoT (UTC) (NOCS) - 42 Acceleration Velocity Sensor Seapath Binary Format 26 (Delayed Heave) - 23 Miscellaneous System Seapath Binary Format 26 (heading) (UTC) - 05 Gyro Seapath Binary Format 26 (heading) (UTC) (NOCS) - 05 Gyro Seapath Binary Format 26 Position (UTC) - 12 Position Navigation System Seapath Binary Format 26 Position (UTC) (NOCS) - 12 Position Navigation System Seapath Binary Format 26 R-P-H (UTC) - 03 Pitch Roll Heave Sensor Seapath Binary Format 26 R-P-H (UTC) (NOCS) - 03 Pitch Roll Heave Sensor Seapath Binary Format 26 Vel, RoT (UTC) - 42 Acceleration Velocity Sensor
Related Pages

Decoding Notes

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
None (OK)	0.0
Reduced	-1.0
Invalid	-2.0

All drivers have an "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.

System Interfacing

GPS Page 1

First thing to do after starting up the Seapath Operator software is to set the IP range Accordingly.

Operator SW is now available to change the IP adress of the Seapath unit. Make sure it is within range of all the other hardware.

Make sure to change the IP address in the same range as the other hardware

Restart

Restart the software to make the change work

System Configuration

The configuration can be changed under System, Nav Engine.

Vessel Geometry

Set up the Vessels Geometry and reference location:

Shape Type	Ship
Shape Dimension	Rough Geometry
Survey Origin	Reference location for the Sensor
NRP	Navigation Reference Point, optional offset referenced to the Survey Origin

Sensors - GNSS

Set up the GNSS and potential Height and Heading offset

Antenna 1	Antenna location referenced to the Survey Origin
Heading offset	Offset relative to the Ship reference
Height difference	Difference in height from Antenna 1 to 2
Calibration Wizard	Calibration to retrieve the heading and height offset

Sensor - MRU

Set up the Sensor location and Mounting angles

Sensor location	Location of MRU relative to Origin
Mounting angles	Orientation of the MRU relative to the ship's frame

MRU Info

Keep the Origin and MRU location in mind when setting up the offset in Qinsy (for which location are you outputting motion/position to Qinsy)

Preferably offsets are entered in the MRU and the output is set for the CoG in Qinsy

Output

Set the appropriate outputs to Qinsy, either Serial or Network:

Type	Ethernet or Serial
IO Properties	Broadcast	Unicast and Multicast aren't supported for this driver
Remote Port	Example: 31099	This port number is used in Qinsy
Format	Seapath 23/Seapath 26	Seapath 26 will allow to automatically record delayed heave in the Qinsy 'Import' folder. For this you need to define a miscellaneous system in your template setup.
Monitoring Point	Output location	Make sure that the selected output location identical to the Qinsy node location
Interval (s)	25-50Hz (0.04 - 0.02)	Preferred output rate

Database Setup

Position navigation system

GPS Page 1

Name	For example: "GPS - Seapath 130"
Type	Position Navigation System
Driver	Network (UDP) - Seapath Binary Format 26/23 Position (UTC) or Seapath Binary Format 26/23 Position (UTC)
Port number	As set up in the Seapath system

GPS Page 2

Antenna	Reference location, set as output in the Seapath system
Datum	Reference datum as set up in the Seapath system

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

Gyro Page 1

Name	For example: "Gyro - Seapath 130"
Type	Gyro Compass
Driver	Network (UDP) - Seapath Binary Format 26/23 (heading)(UTC) or Seapath Binary Format 26/23 (heading) (UTC)
Port number	As set up in the Seapath 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

MRU Page 1

Name	For example: "MRU - Seapath 130"
Type	Pitch Roll Heave Sensor
Driver	Network (UDP) - Seapath Binary Format 26/23 R-P-H (UTC) or Seapath Binary Format 26/23 R-P-H (UTC)
Port number	As set up in the Seapath system

MRU Page 2

Node (Lever Arm)	Monitoring Location as set in the Seapath software

Rotation/Heave convention:

Observation	Positive when
Roll	Port up
Pitch	Bow up
Heave	Downward

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.

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'.

Miscellaneous System

Add a miscellaneous system to your setup and select driver “Seapath Binary Format 26 (Delayed Heave)”, “Network (UDP) - Seapath Binary Format 26 (Delayed Heave)” or “Network (TCP) - Seapath Binary Format 26 (Delayed Heave)”.

Use the same I/O parameters as for the others. On the 2nd wizard page there is no need to add an observation so you can skip the warning message and continue to finish this setup dialog.

Extra info

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.

As soon as you go on-line, and valid post-processed delayed heave data is decoded by the driver, a binary file will be created in your project's Import folder, containing all incoming Seapath Binary Format 26 messages.

At the same time an ASCII file is created in the same folder with the same filename, but with extension *.txt. This file contains a readable representation of the Seapath Binary Format 26 Delayed Heave data.

NOCS

NOCS stands for No Check Sum.

This will basically decode the message regardless of the status flag (see: Coding Notes)