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Subsonus Reference Manual
Subsonus Reference ManualPage 1 of 63
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Table of Contents1 Revision History.........................................................................................................42 Firmware Changelog..................................................................................................53 Hardware Changelog.................................................................................................64 Introduction...............................................................................................................75 Foundation Knowledge..............................................................................................8
5.1 USBL Acoustic Positioning...................................................................................85.2 Inertial Navigation Systems................................................................................95.3 Sensor Co-ordinate Frame................................................................................10
6 Evaluation Kit..........................................................................................................126.1 Evaluation Kit Contents....................................................................................126.2 Quick Start........................................................................................................12
7 Part Numbers and Ordering Options........................................................................147.1 Evaluation Kit...................................................................................................147.2 Standalone Unit................................................................................................147.3 Accessories.......................................................................................................15
8 Specifications..........................................................................................................168.1 Mechanical Drawings........................................................................................168.2 Navigation........................................................................................................178.3 Acoustics..........................................................................................................178.4 Sensors.............................................................................................................178.5 Hardware..........................................................................................................188.6 Connector Pin-out.............................................................................................18
8.6.1 PoE (Power over Ethernet) Pin-out.............................................................198.6.2 DC Power Pin-out.......................................................................................20
9 Installation...............................................................................................................219.1 Installation Checklist........................................................................................219.2 Surface Unit Mounting......................................................................................229.3 Subsea Unit Mounting.......................................................................................249.4 Subsonus Unit Addresses.................................................................................259.5 Surface Unit Reference Source.........................................................................25
9.5.1 Advanced Navigation GPS Compass..........................................................269.5.1.1 Advanced Navigation GPS Compass Mounting...................................26
9.5.2 Advanced Navigation Spatial series GPS/INS.............................................289.5.3 Third Party GPS/INS or GPS Compass........................................................28
9.6 ILU Serial Port Input/Output..............................................................................299.7 Subsea Unit Magnetic Calibration.....................................................................299.8 Third Party Beacons and Pingers......................................................................30
10 Operation...............................................................................................................3110.1 Surface Unit Initialisation................................................................................3110.2 Subsea Unit Initialisation................................................................................3110.3 Subsea Unit GPS.............................................................................................3110.4 Subsea Unit Magnetic Heading.......................................................................3110.5 Out of Water Low Power Mode........................................................................31
11 Maintenance..........................................................................................................3311.1 Disassembly Warning.....................................................................................3311.2 Inspections.....................................................................................................33
11.2.1 Damage...................................................................................................3311.2.2 Connectors..............................................................................................33
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11.2.3 Biofouling................................................................................................3311.3 Removing Biofouling.......................................................................................3311.4 Factory Service and Calibration......................................................................34
12 Interfacing.............................................................................................................3512.1 IP Address.......................................................................................................3512.2 Network Discovery.........................................................................................35
12.2.1 Zeroconf..................................................................................................3512.2.2 AN Packet Protocol Discovery..................................................................35
12.3 Web Browser User Interface...........................................................................3512.4 AN Packet Protocol Machine Interface............................................................3512.5 NMEA Input/Output.........................................................................................36
12.5.1 NMEA Input..............................................................................................3612.5.2 NMEA Output...........................................................................................36
12.6 Time Synchronisation.....................................................................................3713 Advanced Navigation Packet Protocol....................................................................38
13.1 Data Types......................................................................................................3813.2 Packet Structure.............................................................................................38
13.2.1 Header LRC..............................................................................................3913.2.2 Packet ID.................................................................................................3913.2.3 Packet Length..........................................................................................3913.2.4 CRC..........................................................................................................39
13.3 Packet Requests.............................................................................................3913.4 Packet Acknowledgement...............................................................................4013.5 Packet Rates...................................................................................................4013.6 Packet Timing.................................................................................................4013.7 Packet Summary.............................................................................................4013.8 System Packets...............................................................................................41
13.8.1 Acknowledge Packet................................................................................4113.8.1.1 Acknowledge Result.........................................................................42
13.8.2 Request Packet........................................................................................4213.8.3 Boot Mode Packet....................................................................................42
13.8.3.1 Boot Mode Types..............................................................................4213.8.4 Device Information Packet.......................................................................4313.8.5 Restore Factory Settings Packet...............................................................4313.8.6 Reset Packet............................................................................................4313.8.7 Network Settings Packet..........................................................................44
13.8.7.1 DHCP Mode Flags.............................................................................4413.9 State Packets..................................................................................................45
13.9.1 System State Packet................................................................................4513.9.1.1 Health Status....................................................................................4613.9.1.2 System Status..................................................................................4713.9.1.3 GNSS Fix Status................................................................................4713.9.1.4 Unix Time Seconds...........................................................................4713.9.1.5 Microseconds....................................................................................48
13.9.2 Unix Time Packet.....................................................................................4813.9.3 Formatted Time Packet............................................................................4813.9.4 Status Packet...........................................................................................4913.9.5 Remote Unit Track Packet........................................................................50
13.9.5.1 Tracking Status.................................................................................5013.9.6 External Position & Velocity Packet..........................................................51
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13.9.7 External Position Packet...........................................................................5113.9.8 External Velocity Packet..........................................................................5213.9.9 External Body Velocity Packet..................................................................5213.9.10 External Heading Packet........................................................................5313.9.11 Running Time Packet.............................................................................5313.9.12 External Time Packet.............................................................................5313.9.13 External Depth Packet...........................................................................5413.9.14 Heave Packet.........................................................................................54
13.10 Configuration Packets...................................................................................5513.10.1 Packet Timer Period Packet....................................................................55
13.10.1.1 UTC Synchronisation.......................................................................5513.10.1.2 Packet Timer Period........................................................................55
13.10.2 Packets Period Packet............................................................................5613.10.2.1 Clear Existing Packets....................................................................5613.10.2.2 Packet Period..................................................................................56
13.10.3 Installation Alignment Packet................................................................5713.10.3.1 Alignment DCM...............................................................................57
13.10.4 System Options Packet..........................................................................5813.10.4.1 System Options Flags.....................................................................58
13.10.5 Magnetic Calibration Values Packet.......................................................5813.10.6 Magnetic Calibration Configuration Packet............................................59
13.10.6.1 Magnetic Calibration Actions..........................................................6013.10.7 Magnetic Calibration Status Packet.......................................................60
13.10.7.1 Magnetic Calibration Status............................................................6113.10.8 NMEA Output Configuration Packet.......................................................61
13.10.8.1 NMEA Fix Behaviour........................................................................6213.10.8.2 GPIO Output Rates..........................................................................6213.10.8.3 GPIO Output Rates Index................................................................62
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1 Revision History
Version Date Changes
1.0 20/05/2015 Initial Release
Table 1: Revision history
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2 Firmware Changelog
Version Date Changes
1.0 04/03/2015 Initial release
Table 2: Firmware changelog
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3 Hardware Changelog
Version Date Changes
1.0 12/02/2015 Initial release
Table 3: Hardware changelog
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4 IntroductionSubsonus is a next generation USBL underwater acoustic positioning system that provides high accuracy position, velocity and heading at depths of up to 1000 metres. The system features an industry leading calibrated hydrophone array combined with an internal tightly coupled INS, all packed into a miniature titanium enclosure small enough to fit in the palm of your hand.
Subsonus can provide amazing results but it does need to be set up properly and operated with an awareness of its limitations. Please read this manual carefully to ensure success within your application.
If you have any questions please contact [email protected].
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5 Foundation Knowledge
5.1 USBL Acoustic Positioning
USBL is a system that uses acoustic sound waves to determine position underwater. A USBL set up consists of two acoustic transceivers that transmit and receive acoustic sound waves between them which allows each unit to determine the location of the other unit.
USBL stands for Ultra-short Baseline. It is an old loosely defined phrase referring to an acoustic positioning system with multiple hydrophones in a single unit.
A typical USBL set up will have a USBL transceiver mounted on a pole attached to the side of a ship and another USBL transceiver mounted on a vehicle underwater, see Illustration 1. The USBL system mounted on the pole is known as the surface unit and the USBL system underwater is known as the subsea unit.
The way a USBL system works is that one unit will first transmit an acoustic sound wave signal. That acoustic signal travels through the water at the speed of sound and arrives at the receiving USBL a short time later. The receiving USBL receives the acoustic signal on each one of its hydrophones which are separated by a known distance. By comparing the acoustic signals time of arrival at each of the hydrophones it is possible to determine the direction the signal has come from, please see Illustration 2. By comparing the time at which the signal was transmitted with the time at which the signal was received, the amount of time the signal was travelling through the water can be determined. This travel time can be used to calculate the distance (range) between the USBLs by multiplying by the speed of sound through water. With
Illustration 1: Typical USBL positioning set up
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both distance and direction, the relative position of the transmitter can be determined.
This process of transmitting and receiving acoustic sound wave signals between the USBLs alternates back and forth continuously between the two units, allowing each unit to determine the position of the other. Subsonus is able to perform acoustic positioning updates in this way at up to 10 times per second which is limited by the speed of sound through water.
Illustration 2 shows 4 receive hydrophones which is typical of current USBL systems, however Subsonus actually uses 8 hydrophones which allows it to more accurately determine the direction and range of the acoustic signal.
Subsonus is the first low cost USBL system on the market to feature acoustic heading. Acoustic heading works by determining the angular offset between the surface and the subsea unit. This angular offset can then be subtracted from the surface units known accurate heading to provide accurate heading for the subsea unit.
5.2 Inertial Navigation Systems
An inertial navigation system uses motion to determine position from a starting point. Inertial navigation systems are very accurate over short periods but experience a exponentially increasing error over long periods. On Subsonus an inertial navigation system fuses the acoustic position and velocity with inertial sensors and a depth sensor to achieve an optimal solution with accuracy far beyond that of a standalone acoustic positioning system. The inertial navigation system also fills in the gaps between acoustic updates and for periods when acoustic updates are not available.
Subsonus is one of the first USBL systems on the market to offer an integrated tightly
Illustration 2: USBL hydrophones receiving acoustic sound waves from another USBL
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coupled inertial navigation system.
5.3 Sensor Co-ordinate Frame
The sensor co-ordinate frame provides the three axes in which all measurements are made.
There are two different hardware variants of Subsonus, the subsea unit and the surface unit. The subsea unit is mounted upright on top of a subsea vehicle, see Illustration 1. The surface unit is mounted upside down on a pole attached to the side of a ship. As the surface unit is mounted upside down its axes are different from the subsea variant.
The positive directions of each of the axes and the positive directions of rotations are shown for the subsea version in Illustration 3 and the surface version in Illustration 4.
Illustration 3: Subsonus subsea variant axes
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Illustration 4: Subsonus surface variant axes
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6 Evaluation KitThe Subsonus evaluation kit contains everything required to start operating a Subsonus system for subsea positioning and heading.
It contains both a surface and subsea Subsonus that can be used to demonstrate the full capabilities and maximum performance of the system. The evaluation kit contains all the equipment required for an ideal set up that will provide the best results from Subsonus. Due to Advanced Navigation's desire for customers to experience the best results from Subsonus, the evaluation kit price is subsidised relative to buying the equipment individually to promote purchasing the ideal set up.
6.1 Evaluation Kit Contents
1. Subsonus surface unit.
2. Subsonus subsea unit.
3. ILU (Interface and Logging Unit), see section 9.6.
4. GPS compass RS422 (comes with cable), see section 9.5.1.
5. Pole mount bracket, see Illustration 8.
6. 2x Subsonus connector to RJ45 connector 10 metre cable.
7. 2x 100-240V PoE (Power over Ethernet) power supply injectors.
8. 2x Subsonus connector female plug caps (for Subsonus connectors).
9. 2x Subsonus connector male plug caps (for cable connectors).
6.2 Quick Start
1. Mount the surface and subsea Subsonus units following the mounting guidelines in sections 9.2 and 9.3 respectively. It is recommended to mount the surface Subsonus on a pole using the pole mount bracket included.
2. Mount the GPS compass on the top of the surface Subsonus pole with the forwards mark in the forwards direction of travel of the ship and precisely aligned with the opposite direction of the Subsonus connector blanking cap, see Illustration 11.
3. Plug the surface Subsonus cable into the output port on the PoE injector and then the PoE injector input port into Ethernet port 2 on the ILU.
4. Plug the GPS compass into the INS connector on the ILU and plug the power adapter into the ILU.
5. Plug the ILU Ethernet port 1 into your local network.
6. Plug the subsea Subsonus into the output port of the PoE injector and power everything on.
7. Install zeroconf (Apple Bonjour) and Mozilla Firefox from the links below:
https://support.apple.com/kb/DL999
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https://www.mozilla.org/en-US/firefox/new/
8. Open firefox and type in the address an-subsonus-1.local to connect to the surface Subsonus unit.
9. In the configuration menu open the Alignment Offsets page and enter the offset from the base of the surface Subsonus unit to the base of the GPS compass.
10.The system is now ready for use. Click on the main page to see the status. It may take a couple minutes to initialise after which time the location of the surface and subsea units will appear on the map.
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7 Part Numbers and Ordering Options
7.1 Evaluation Kit
Part Number Description Notes
SUBSONUS-EK Subsonus Evaluation Kit
Subsonus Evaluation Kit Contains everything required to start operating Subsonus for subsea acoustic positioning and heading. It includes the items listed in section 6.1.
Table 4: Evaluation kit part numbers
7.2 Standalone Unit
Part Number Description Notes
SUBSONUS-SUB Subsonus Subsea Unit
Subsonus Subsea UnitHorizontal connectorInternal GPS/INSInternal GPS antenna in hydrophone array
SUBSONUS-SURF Subsonus Surface Unit
Subsonus Surface UnitVertical connectorInternal AHRS/INS (Requires external GPS compass or GPS/INS)
Table 5: Standalone unit part numbers
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7.3 Accessories
Part Number Description Notes
SS-10M-CABLE Subsonus 10 metre cable
Subsonus 10 metre cable to RJ45 Ethernet connector.
SS-POLE-BRACKET Subsonus Surface Pole Mount Bracket
Subsonus Surface Pole Mount Bracket.
ILU Interface and Logging Unit
Interface and Logging UnitBreaks the Subsonus Ethernet interface out to 5 serial ports capable of input/output of standard protocols and logs up to 64GB of data.
GPS-COMPASS-POE GPS Compass (PoE)
All in one GPS Compass for Subsonus surface unit. Ethernet interface. PoE powered.
GPS-COMPASS-RS422 GPS Compass (RS422)
All in one GPS Compass for use with ILU. RS422 interface. 9-36V DC power.
POE-INJECTOR AC PoE Injector 100-240V AC PoE power injector adaptor.
SS-CONNECTOR-CAP Subsonus Connector Cap
Protective cap for Subsonus connector. (MCDC8F).
SS-CABLE-CAP Subsonus Cable Cap
Protective cap for connector on Subsonus cable. (MCDC8M).
Table 6: Accessories part numbers
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8 Specifications
8.1 Mechanical Drawings
Illustration 5: Subsonus mechanical drawings
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8.2 Navigation
Parameter Value
Position Accuracy (5 m range) 0.05 m
Position Accuracy (100 m range) 0.2 m
Position Accuracy (1000 m range) 2.5 m
Velocity Accuracy 0.01 m/s
Roll & Pitch Accuracy 0.1 °
Heading Accuracy (Acoustic) 0.3 °
Heave Accuracy 5 % or 0.05 m
Internal Filter Rate 1000 Hz
Data Output Rate Up to 1000 Hz
Latency 0.6 ms
Table 7: Navigation specifications
8.3 Acoustics
Parameter Value
Hydrophones 8
Frequency 30 kHz (broadband)
Acoustic Coverage 300 ° hemispherical
Accuracy 0.25% of slant range
Update Rate Up to 10 Hz
Data Transfer Rate Up to 10 kBit
Table 8: Acoustics specifications
8.4 Sensors
Parameter Value
Pressure Sensor Range 1000 m
Pressure Sensor Accuracy 1.5 m
Subsonus Subsea Unit Integrated GPS/INSIntegrated GPS antenna in top of
hydrophone array
Subsonus Surface Unit Integrated INSExternal GPS Compass or GPS/INS
required for use
Table 9: Sensors specifications
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8.5 Hardware
Parameter Value
Operating Voltage 9 to 60 V orPower over Ethernet
Power Consumption (average) 8 watts
Power Consumption (peak) 25 watts
Interface Ethernet(RS232 or RS422 through ILU)
Timing Synchronisation Support PTP and NTP
Depth Rating 1000 m
Operating Temperature -20 °C to 40 °C
Storage Temperature -40 °C to 85 °C
Shock Limit 25 g
Dimensions 106x106x82 mm
Weight in Air 780 g
Table 10: Hardware specifications
8.6 Connector Pin-out
Power and data connection is made through a single standard Subcon MCBH8M that is compatible with other manufacturers mating connectors. The connector pin-out is shown below in Illustration 6. The mating connector is a Subcon MCIL8F. Advanced Navigation stocks an MCIL8F mating connectors with 10 metres of cable to an RJ45 Ethernet connector. Custom cable lengths are available upon request.
There are two options available to power the unit. It can either be powered using PoE (Power over Ethernet) or it can be powered from a DC source. See Table 11 and Table 12 respectively. The system can be connected either way and it automatically determines the power source method. The evaluation kits are powered using the PoE method.
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8.6.1 PoE (Power over Ethernet) Pin-out
Pin Colour Function RJ45 Pin
1 Blue/White Ethernet DC+ 5
2 Blue Ethernet DC+ 4
3 Orange/White Ethernet Tx+ 1
4 Orange Ethernet Tx- 2
5 Green/White Ethernet Rx+ 3
6 Green Ethernet Rx- 6
7 Brown/White Ethernet DC- 7
8 Brown Ethernet DC- 8
Table 11: Power over Ethernet pin-out
Illustration 6: Subsonus MCBH8M connector
12
3
45
6
7
8
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8.6.2 DC Power Pin-out
Pin Colour Function RJ45 Pin
1 Blue/White Power Supply
2 Blue Power Supply
3 Orange/White Ethernet Tx+ 1
4 Orange Ethernet Tx- 2
5 Green/White Ethernet Rx+ 3
6 Green Ethernet Rx- 6
7 Brown/White Ground
8 Brown Ground
Table 12: DC power pin-out
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9 Installation
9.1 Installation Checklist
1. Mount the surface unit following the guidelines in section 9.2.
2. Mount the subsea unit following the guidelines in section 9.3.
3. Set up the reference data source, see section 9.5.
4. Install cables to the units and make sure the connector is mated correctly and the jacket is screwed up hand tight.
5. Connect the Subsonus cables to PoE injectors and the PoE injectors into a local network (with DHCP). Power everything on.
6. Install zeroconf (Apple Bonjour) and Mozilla Firefox from the links below:
https://support.apple.com/kb/DL999
https://www.mozilla.org/en-US/firefox/new/
7. Connect to the surface Subsonus, by typing the address an-subsonus-1.local into firefox. To connect to the subsea Subsonus the address an-subsonus-2.local can be used.
8. In the configuration menu open the Alignment Offsets page and enter the offset from the base of the surface Subsonus unit to the base of the GPS compass.
9. The system is now ready for use. Click on the main page to see the status. It may take a couple minutes to initialise after which time the location of the surface and subsea units will appear on the map.
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9.2 Surface Unit Mounting
The surface Subsonus unit is typically mounted on a pole that is attached to the side of a ship and pointing down into the water, see Illustration 7.
Mounting goals with the surface unit are:
1. The Subsonus unit should be mounted with its face pointing directly down into the water. The connector blanking bolt on the side of Subsonus needs to be aligned so that it is pointing in the backwards direction of the ship, opposite to the direction of travel.
2. The Subsonus unit should be mounted at least 1 metre under the surface of the water. The unit should be deep enough that it never comes out of the water.
3. The Subsonus unit should be mounted away from propellers and thrusters. It should be mounted in a position where it will have minimal air bubbles passing over or below the hydrophones.
4. The Subsonus unit should be mounted at least 1 metre away from the boat hull or jetty.
Advanced Navigation stocks a reinforced acetal plastic pole mount bracket for Subsonus that allows customers to quickly mount the surface unit to a 15-35mm diameter pole, see Illustration 8.
Illustration 7: Typical Subsonus surface mounting
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The surface Subsonus unit can also be mounted to fixed structures such as jettys or buoys, where the same mounting goals apply except that in this scenario the connector alignment does not matter.
Illustration 8: Subsonus pole mount bracket
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9.3 Subsea Unit Mounting
The subsea Subsonus unit is typically mounted on the top of the subsea vehicle and pointing towards the surface, see Illustration 9.
Mounting goals with the Subsea unit are:
1. The Subsonus unit should be mounted with its face pointing towards the surface when the subsea vehicle is in a level orientation. The connector on the side of Subsonus needs to be aligned so that it is pointing in the backwards direction of the vehicle, opposite to the direction of travel.
2. The Subsonus unit should be mounted on the top of the vehicle with minimal obstructions to its view of the surface.
3. The Subsonus unit should be mounted away from propellers and thrusters.
4. The Subsonus unit should be mounted away from any air/gas exhausts. It should be mounted in a position where it will have minimal air bubbles passing over or above the hydrophones.
5. The Subsonus unit should be mounted high enough on the vehicle that the blue transducer array is above the water line when the vehicle is surfaced. This is so that the GPS antenna in the top of the transducer can get a GPS fix when the unit is surfaced.
Illustration 9: Typical Subsonus subsea mounting
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9.4 Subsonus Unit Addresses
If you are only using only one subsea Subsonus unit you can disregard this section as the factory default unit addresses of 1 for surface and 2 for subsea will work out of the box.
It is possible to track multiple subsea Subsonus units from a single surface Subsonus unit. One surface Subsonus unit can track up to 254 subsea Subsonus units.
Every Subsonus unit has an address which allows units to communicate one at a time. By default surface Subsonus units have an address of 1 and subsea Subsonus units have an address of 2.
Every Subsonus unit being operated within a 3km radius must have a unique address otherwise communication collisions will occur.
When installing more than one subsea Subsonus unit, each units address should be set to a unique value by going into the addresses page in the configuration menu. Typically this will be a numerically ascending value from 2 i.e. 2, 3, 4, 5 and so on.
9.5 Surface Unit Reference Source
The surface Subsonus unit requires a source of time, position, velocity and heading data to function. This data can be provided by either a GPS compass or a GPS/INS. There are three options available for the reference source.
1. Advanced Navigation GPS Compass.
2. Advanced Navigation Spatial series GPS/INS.
3. Third Party GPS/INS or GPS Compass.
The recommended source is the Advanced Navigation GPS Compass which will give the best results. Many survey ships will have an existing high accuracy GPS/INS in which case they can use either the Advanced Navigation Spatial series GPS/INS or Third Party GPS/INS or GPS Compass options.
When the Advanced Navigation GPS compass is used as the reference source, Subsonus operates in full GPS/INS mode. When a third party GPS/INS or GPS compass is used, Subsonus will operate in AHRS and not perform any further processing on the reference data.
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9.5.1 Advanced Navigation GPS Compass
Advanced Navigation manufactures an all in one GPS compass system that is an ideal reference source for Subsonus. There are two versions produced:
1. Ethernet GPS compass, powered using PoE (Power over Ethernet).
2. RS422 GPS compass, powered using 9-36 V DC.
Using the Ethernet GPS compass it is possible to operate Subsonus without the ILU. Once plugged into the same network Subsonus will automatically recognise the presence of the GPS compass and start using it.
The Subsonus evaluation kit is supplied with the RS422 version that plugs into the ILU.
9.5.1.1 Advanced Navigation GPS Compass Mounting
The ideal mounting position for the GPS compass is on top of the surface Subsonus pole. The system needs to be mounted in a position where it has a clear view of the sky. The GPS compass should be mounted with its forward mark pointed in the direction of travel of the vehicle. The connector blanking cap on Subsonus should be pointing in the opposite direction of the GPS compass forward mark, see Illustration 11. It is important to accurately align the GPS compass with Subsonus. The two units alignment with the forward direction of the ship is less important and can be done by eye.
Illustration 10: Advanced Navigation GPS compass
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The GPS compass accepts a standard 5/8” survey mount or 4x M8 panel mount bolts, see Illustration 12 for mechanical details.
Illustration 12: Advanced Navigation GPS compass mechanical drawings
Illustration 11: Advanced Navigation GPS compass mounting
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9.5.2 Advanced Navigation Spatial series GPS/INS
Subsonus supports any of Advanced Navigation's Spatial series of GPS/INS through use of the Advanced Navigation ILU (Interface and Logging Unit). The Spatial series GPS/INS should be plugged into the INS port on the ILU. The Subsonus unit should be plugged into Ethernet port 2. Ethernet port 1 should be connected to the user network. The ILU will automatically detect the Subsonus and Spatial units and automatically configure for correct use.
9.5.3 Third Party GPS/INS or GPS Compass
Third party GPS/INS and GPS compass systems work with Subsonus if they can output NMEA messages GPGGA, GPVTG and GPHDT at 10 Hz.
If the third party system has an Ethernet interface, it should be configured to send the NMEA messages to Subsonus over a TCP port, please see section 12.5.
If the third party system has only a serial interface such as RS232 then the Advanced Navigation ILU (Interface and Logging Unit) is required to interface the system to Subsonus. The third party system should be plugged into COM1 and Subsonus into Ethernet interface 2 on the ILU. In the ILU data streams configuration page COM1 should be configured as NMEA Input.
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9.6 ILU Serial Port Input/Output
For customers that require serial port interfaces to Subsonus, Advanced Navigation offers the ILU (Interface and Logging Unit). The ILU breaks out Subsonus's Ethernet interface to up to 6 RS232/RS422 ports and provides industry standard data format outputs such as NMEA 0183 and NMEA 2000.
When tracking multiple subsea Subsonus units it is possible to output the NMEA position data of each unit on separate ports of the ILU.
The ILU is also useful for time synchronisation with Subsonus. Using PTP over Ethernet time can be synchronised to an accuracy of 10 nanoseconds. The ILU also supports 1PPS synchronisation input/output for synchronising with other equipment.
9.7 Subsea Unit Magnetic Calibration
The subsea Subsonus unit features magnetic heading which it uses when acoustic heading is unavailable. The magnetic heading features automatic calibration that occurs continuously whenever acoustic heading is available. When the unit is first deployed there will be no magnetic calibration and the system won't use magnetic heading until it has had acoustic heading for more than 5 minutes. If the customer would prefer to only use acoustic heading, magnetic heading can be disabled on the configuration page.
Illustration 13: Advanced Navigation ILU
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9.8 Third Party Beacons and Pingers
Subsonus does support operation with a number of third party beacons and pingers. However there are no third party systems on the market that support a lot of Subsonus's revolutionary features and as such performance when operating with third party equipment will be significantly reduced compared to Subsonus to Subsonus operation. A number of features such as acoustic heading, data transfer and dynamic transmit power will not function with third party equipment. Please contact [email protected] to discuss operation with third party equipment.
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10 Operation
10.1 Surface Unit Initialisation
After power on the surface unit typically takes 30 seconds to become ready for use. After this time the unit will not be able to start providing data until its aiding source has initialised. When using the Advanced Navigation GPS Compass as an aiding source it will typically initialise within 5 minutes. The initialisation status can be monitored from the main view in the Subsonus web GUI. The address for the web GUI is an-subsonus-1.local.
10.2 Subsea Unit Initialisation
After power on the surface unit typically takes 30 seconds to become ready for use. After this time, if the subsea unit's transducer head is submerged it will initialise within 10 seconds of first acoustic contact with a surface Subsonus unit. If the Subsonus transducer head is out of the water the system will instead automatically initialise using its built in GPS receiver which will typically occur within 30 seconds. The initialisation status can be monitored from the main view in the Subsonus web GUI. The address for the web GUI is an-subsonus-2.local.
10.3 Subsea Unit GPS
The subsea Subsonus unit contains an internal GPS receiver and a GPS antenna in the top of the hydrophone array. When the unit breaches the water surface, acoustic positioning will cease to function and Subsonus will automatically use GPS positioning instead.
10.4 Subsea Unit Magnetic Heading
The subsea Subsonus unit features magnetic heading which it uses when acoustic heading is unavailable. The magnetic heading features automatic calibration that occurs continuously whenever acoustic heading is available. In the event that the Subsonus unit is going to be mounted in the presence of a strong magnetic interference source (such as close to a motor or high current wiring), then the magnetic heading should be disabled in the system settings. When magnetic heading is disabled the system will maintain accurate heading using its gyroscopes when acoustic heading is unavailable.
10.5 Out of Water Low Power Mode
Subsonus automatically detects when it is out of water and switches to a low power mode where it shuts down its acoustic functionality. While in low power mode the GPS/INS, interface and all other non-acoustic functions will continue operating correctly. When the system is returned to water it will automatically switch back to full power mode within 20 seconds and restart acoustic operation.
This power mode switching is because Subsonus generates a significant amount of heat during acoustic operation. In full power mode Subsonus depends upon the water
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surrounding it to dissipate heat. While in low power mode Subsonus does not depend upon the water to dissipate heat and can operate in ambient temperatures of up to 40 °C. In the event that Subsonus is subjected to temperatures beyond its operating limits, it will safely shut down. In this event the power must be cycled to restart operation.
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11 Maintenance
11.1 Disassembly Warning
The protective cage of Subsonus must never be removed. Subsonus's protective cage is a structural component and removal of the cage will break the sealing of the unit, causing permanent damage to internal components.
If the Subsonus cage is ever damaged, the unit should be sent back to the factory immediately. Replacement cages are a quick and low cost procedure.
Subsonus requires special tools to disassemble it without causing damage and this can only be performed by trained personnel at the Advanced Navigation factory.
11.2 Inspections
The following inspections should be performed prior to deployment and after retrieval.
11.2.1 Damage
Inspect the titanium base and protective cage for deep scratches and cracks. Inspect the transducer head for any cuts, gouges or damage. In the event of any damage please email a photo to [email protected] for advice before deployment.
11.2.2 Connectors
The connectors and cables should be inspected for damage and checked to ensure they are fully mated.
Every time the connectors are un-mated the inside should be inspected for bent or damaged pins and cracked or damaged rubber. Silicon lubricant such as Dow Corning molykote 111 should be applied to the male pins and the female socket prior to remating.
11.2.3 Biofouling
Inspect for biofouling such as barnacles and other marine growth. Follow the service procedures in section 11.3 for removal of biofouling.
11.3 Removing Biofouling
Soft marine growth should be gently removed using a soft bristled brush and soapy water.
For hard marine growth it is recommended to soak the unit in a weak solution (8-10%) of Sulphamic acid and then brush it down. An example product containing Sulphamic acid is Lime-A-Way thick gel.
Hydrochloric acid should not be used to remove biofouling on Subsonus as this can cause the protective cage to become brittle and weak.
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If hard marine growth has attached to the hydrophone head it should not be pulled off with force as this will likely tear the head open. The unit should be returned to the factory in this event.
11.4 Factory Service and Calibration
Subsonus should be sent back to Advanced Navigation for servicing and calibration verification every 2 years. At this time the unit will be thoroughly checked and tested, all the seals will be replaced, and the factory calibration will be checked and updated if necessary.
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12 Interfacing
12.1 IP Address
By default Subsonus uses DHCP to assign itself an address. The system can be assigned a static IP in the network configuration page. Advanced Navigation recommends using zeroconf to connect to the unit, however it is also possible to use the direct IP address to connect.
12.2 Network Discovery
12.2.1 Zeroconf
Zeroconf is a network protocol used for finding devices on a network without an IP address. Subsonus has zeroconf support and it is typically the easiest way to connect to it on a network. Zeroconf for Windows (Apple Bonjour) can be downloaded from the link below:
https://support.apple.com/kb/DL999
Mozilla Firefox is recommended for use with zeroconf. Google Chrome is known not to work with zeroconf.
Once zeroconf is installed you can open a web browser (firefox) and enter the address an-subsonus-1.local to connect to the surface unit. The address an-subsonus-2.local can be used to connect to the subsea unit.
When operating multiple subsea units the unit address is used in the zeroconf address. For example unit address 12 would have the zeroconf address an-subsonus-12.local.
12.2.2 AN Packet Protocol Discovery
Devices can also be discovered using the AN packet protocol over a UDP network socket.
To initiate discovery send a multicast UDP packet with hex bytes 0x01 0x01, 0x00, 0xFF, 0xFF on port 48817 to address 239.48.81.7. Any Subsonus units on the network will reply to the sender on port 48818 with their Device Information Packet including AN packet header.
12.3 Web Browser User Interface
The Subsonus user interface is available through a web browser. The web browser interface features real time 3D mapping and full device configuration. Zeroconf is recommended to determine the web address of the unit, see section 12.2.1.
12.4 AN Packet Protocol Machine Interface
Subsonus features a full machine interface that allows access to all data and system configuration. The machine interface uses the binary AN packet protocol described in section 12.4 over TCP.
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The AN packet protocol machine interface is available over four TCP ports. These are ports 16718, 16719, 16720 and 16721.
12.5 NMEA Input/Output
Subsonus supports NMEA input and output over four TCP ports. These are ports 16722, 16723, 16724 and 16725.
12.5.1 NMEA Input
The Subsonus surface unit requires a reference source of position, velocity, time and heading to function. This can be supplied to the unit using NMEA. The messages required are GPGGA, GPVTG and GPHDT at 10Hz.
The Subsonus subsea unit can also accept NMEA input that can be used supply aiding information. For example if the subsea vehicle already has a high accuracy gyrocompass heading system installed with superior accuracy to Subsonus's acoustic heading, then this data can be fed into the unit using one of the NMEA heading messages for enhanced results.
The full list of supported input NMEA messages is listed below in Table 13.
Message ID Description
GPGGAGNGGA
3D position
GPGLLGNGLL
2D position
GPRMCGNRMC
2D position, 2D velocity and coarse time
GPVTGGNVTG
2D velocity
GPHDTGNHDTHEHDT
Heading
GPGSVGNGSV
Satellites
GPGSAGNGSA
Dilution of Position
GPZDAGNZDA
Time
Table 13: Supported NMEA input messages
12.5.2 NMEA Output
Subsonus can output a configurable combination of NMEA messages GPZDA, GPGGA, GPVTG, GPRMC, GPHDT, GPGLL and PASHR at up to 50 Hz. The output NMEA messages can be configured in the NMEA output configuration page.
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An example output is shown below:
$GPZDA,031644.460,07,05,2013,00,00*52
$GPGGA,031644.460,3352.3501851,S,15112.2355488,E,6,00,1.4,150.0,M,0.0,M,,*7E
$GPVTG,089.19,T,089.19,M,000.00,N,000.00,K,E*27
$GPRMC,031644.460,A,3352.3501851,S,15112.2355488,E,0.0,89.2,070513,12.5,W,E*02
$GPHDT,89.2,T*06
$PASHR,031644.460,089.19,T,-00.01,-00.47,-00.00,,,,0,0*2E
12.6 Time Synchronisation
Subsonus supports time synchronisation using either PTP or NTP. When operating Subsonus with either the Advanced Navigation GPS Compass or the Advanced Navigation ILU the time will be automatically synchronised with an accuracy of around 30 nanoseconds.
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13 Advanced Navigation Packet ProtocolThe Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed with high error checking, high efficiency and safe design practices. It has a well defined specification and is very flexible. It is used across all existing and future Advanced Navigation products.
13.1 Data Types
The following data types are used in the packet protocol. All data types in the protocol are little endian byte ordering.
Abbreviation Bytes Also known as
u8 1 unsigned char, unsigned byte, uint8_t
s8 1 char, byte, int8_t
u16 2 unsigned short, uint16_t
s16 2 short, int16_t
u32 4 unsigned int, unsigned long, uint32_t
s32 4 int, long, int32_t
u64 8 unsigned long long, uint64_t
s64 8 long long, int64_t
fp32 4 float
fp64 8 double
Table 14: Data type abbreviations used in the ANPP
13.2 Packet Structure
The ANPP packet structure is shown in Table 15 and the header format is shown in Table 16. Example code can be downloaded from the software section.
Header
Header LRC Packet ID Packet Length CRC16 Packet Data
Table 15: ANPP Packet Structure
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ANPP Header Format
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Header LRC, see section 13.2.1
2 1 u8 1 Packet ID, see section 13.2.2
3 2 u8 1 Packet Length, see section 13.2.3
4 3 u16 2 CRC16, see section 13.2.4
Table 16: ANPP header format
13.2.1 Header LRC
The header LRC (Longitudinal Redundancy Check) provides error checking on the packet header. It also allows the decoder to find the start of a packet by scanning for a valid LRC. The LRC can be found using the following:
LRC = ((packet_id + packet_length + crc[0] + crc[1])^0xFF) + 1
13.2.2 Packet ID
The packet ID is used to distinguish the contents of the packet. Packet IDs range from 0 to 255.
Within this range there are three different sub-ranges, these are system packets, state packets and configuration packets.
System packets have packet IDs in the range 0 to 19. These packets are implemented the same by every device using ANPP.
State packets are packets that contain data that changes with time, i.e. temperature. State packets can be set to output at a certain rate. State packets are packet IDs in the range 20 to 179.
Configuration packets are used for reading and writing device configuration. Configuration packets are packet IDs in the range 180 to 255.
13.2.3 Packet Length
The packet length denotes the length of the packet data, i.e. from byte index 5 onwards inclusive. Packet length has a range of 0 – 255.
13.2.4 CRC
The CRC is a CRC16-CCITT. The starting value is 0xFFFF. The CRC covers only the packet data.
13.3 Packet Requests
Any packet can be requested at any time using the request packet. See section 13.8.2.
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13.4 Packet Acknowledgement
When configuration packets are sent to Subsonus, it will reply with an acknowledgement packet that indicates whether the configuration change was successful or not. For details on the acknowledgement packet, see section 13.8.1.
13.5 Packet Rates
The packet rates can be configured using either the Subsonus output configuration page or through the Packets Period Packet. By default Subsonus is configured to output the System State Packet at 20Hz and the Remote Unit Track Packet on arrival.
When multiple packets are set to output at the same rate, the order the packets output is from lowest ID to highest ID.
13.6 Packet Timing
Packets are output in order of packet ID from lowest ID to highest ID and all packets that are output in one sequence have their data matched to the same time of validity. The time of validity can be found in either the System State Packet, the Unix Time Packet or the Formatted Time Packet. For example if the Unix Time Packet, Status Packet and Heave Packet packet were all set to output at 10 Hz, at each 0.1 second period the three packets would output consecutively by order of packet ID with all data synchronised between them and the Unix Time Packet providing the time of validity for the other two packets.
13.7 Packet Summary
Packet ID Length R/W Name
System Packets
0 4 R Acknowledge Packet
1 - W Request Packet
2 1 R/W Boot Mode Packet
3 24 R Device Information Packet
4 4 W Restore Factory Settings Packet
5 4 W Reset Packet
11 18 R/W Network Settings Packet
State Packets
20 100 R System State Packet
21 8 R Unix Time Packet
22 14 R Formatted Time Packet
23 4 R Status Packet
24 71 R Remote Unit Track Packet
44 64 R/W External Position & Velocity Packet
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Packet ID Length R/W Name
45 40 R/W External Position Packet
46 28 R/W External Velocity Packet
47 20 R/W External Body Velocity Packet
48 12 R/W External Heading Packet
49 8 R Running Time Packet
52 8 R/W External Time Packet
53 16 R/W External Depth Packet
58 16 R Heave Packet
Configuration Packets
180 4 R/W Packet Timer Period Packet
181 - R/W Packets Period Packet
185 73 R/W Installation Alignment Packet
186 17 R/W System Options Packet
189 49 R/W Magnetic Calibration Values Packet
190 1 W Magnetic Calibration Configuration Packet
191 3 R Magnetic Calibration Status Packet
195 33 R/W NMEA Output Configuration Packet
Table 17: Packet summary
13.8 System Packets
13.8.1 Acknowledge Packet
Acknowledgement Packet
Packet ID 0
Length 4
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Packet ID being acknowledged
2 1 u16 2 CRC of packet being acknowledged
3 3 u8 1 Acknowledge Result, see section 13.8.1.1
Table 18: Acknowledge packet
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13.8.1.1 Acknowledge Result
Value Description
0 Acknowledge success
1 Acknowledge failure, CRC error
2 Acknowledge failure, packet size incorrect
3 Acknowledge failure, values outside of valid ranges
4 Acknowledge failure, system flash memory failure
5 Acknowledge failure, system not ready
6 Acknowledge failure, unknown packet
Table 19: Acknowledge result
13.8.2 Request Packet
Request Packet
Packet ID 1
Length 1 x number of packets requested
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Packet ID requested
+ Field 1 repeats for additional packet requests
Table 20: Request packet
13.8.3 Boot Mode Packet
Boot Mode Packet
Packet ID 2
Length 1
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Boot mode, see section 13.8.3.1
Table 21: Boot mode packet
13.8.3.1 Boot Mode Types
Value Description
0 Bootloader
1 Main Program
Table 22: Boot mode types
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13.8.4 Device Information Packet
Device Information Packet
Packet ID 3
Length 24
Field #
Bytes Offset
Data Type
Size Description
1 0 u32 4 Software version
2 4 u32 4 Device ID
3 8 u32 4 Hardware revision
4 12 u32 4 Serial number part 1
5 16 u32 4 Serial number part 2
6 20 u32 4 Serial number part 3
Table 23: Device information packet
13.8.5 Restore Factory Settings Packet
Restore Factory Settings Packet
Packet ID 4
Length 4
Field #
Bytes Offset
Data Type
Size Description
1 0 u32 4 Verification Sequence (set to 0x85429E1C)
Table 24: Restore factory settings packet
13.8.6 Reset Packet
Reset Packet
Packet ID 5
Length 4
Field #
Bytes Offset
Data Type
Size Description
1 0 u32 4 Verification Sequence (set to 0x21057A7E)
Table 25: Reset packet
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13.8.7 Network Settings Packet
Network Settings Packet
Packet ID 11
Length 18
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Permanent
2 1 u8 1 DHCP mode flags, see section 13.8.7.1
3 2 u32 4 Static IP address
4 6 u32 4 Static netmask
5 10 u32 4 Static gateway
6 14 u32 4 Static DNS server
Table 26: Network settings packet
13.8.7.1 DHCP Mode Flags
Bit Description
0 DHCP enabled (fields 3-5 ignored)
1 Automatic DNS (field 6 ignored)
2-7 Reserved (set to zero)
Table 27: DHCP mode flags
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13.9 State Packets
13.9.1 System State Packet
System State Packet
Packet ID 20
Length 109
Field #
Bytes Offset
Data Type
Size Description
1 0 u16 2 Health status, see section 13.9.1.1
2 2 u16 2 System status, see section 13.9.1.2
3 4 u32 4 Unix time seconds, see section 13.9.1.4
4 8 u32 4 Microseconds, see section 13.9.1.5
5 12 fp64 8 Latitude (rad)
6 20 fp64 8 Longitude (rad)
7 28 fp64 8 Height (m)
8 36 fp32 4 Velocity north (m/s)
9 40 fp32 4 Velocity east (m/s)
10 44 fp32 4 Velocity down (m/s)
11 48 fp32 4 Body acceleration X (m/s/s)
12 52 fp32 4 Body acceleration Y (m/s/s)
13 56 fp32 4 Body acceleration Z (m/s/s)
14 60 fp32 4 G force (g)
15 64 fp32 4 Roll (radians)
16 68 fp32 4 Pitch (radians)
17 72 fp32 4 Heading (radians)
18 76 fp32 4 Angular velocity X (rad/s)
19 80 fp32 4 Angular velocity Y (rad/s)
20 84 fp32 4 Angular velocity Z (rad/s)
21 88 fp32 4 Latitude standard deviation (m)
22 92 fp32 4 Longitude standard deviation (m)
23 96 fp32 4 Height standard deviation (m)
24 100 fp32 4 Depth (m)
25 104 fp32 4 Velocity of sound (m/s)
26 108 u8 1 Unit ID
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Table 28: System state packet
13.9.1.1 Health Status
This field contains 16 bits that indicate problems with the system. These are boolean fields with a zero indicating false and one indicating true.
Bit Description
0 System Failure
1 Accelerometer Sensor Failure
2 Gyroscope Sensor Failure
3 Magnetometer Sensor Failure
4 Pressure Sensor Failure
5 GNSS Failure
6 Accelerometer Over Range
7 Gyroscope Over Range
8 Magnetometer Over Range
9 Pressure Over Range
10 Maximum Temperature Shutdown
11 Out Of Water Alarm
12 Reserved
13 Reserved
14 Reserved
15 Reserved
Table 29: Health status
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13.9.1.2 System Status
This field contains 16 bits that indicate the status of the system. These are boolean fields with a zero indicating false and one indicating true.
Bit Description
0 Orientation Filter Initialised
1 Navigation Filter Initialised
2 Heading Initialised
3 UTC Time Initialised
4 GNSS Fix Status, see section 13.9.1.3
5
6
7 Acoustic Heading Active
8 USBL Tracking Active
9 Internal GNSS Enabled
10 Magnetic Heading Active
11 Velocity Heading Active
12 Depth Sensor Active
13 External Position Active
14 External Velocity Active
15 External Heading Active
Table 30: System status
13.9.1.3 GNSS Fix Status
Value Bit 6 Bit 5 Bit 4 Description
0 0 0 0 No GNSS fix
1 0 0 1 2D GNSS fix
2 0 1 0 3D GNSS fix
3 0 1 1 SBAS GNSS fix
4 1 0 0 Differential GNSS fix
5 1 0 1 Omnistar/Starfire GNSS fix
6 1 1 0 RTK Float GNSS fix
7 1 1 1 RTK Fixed GNSS fix
Table 31: GNSS fix status
13.9.1.4 Unix Time Seconds
This field provides UTC time in seconds since January 1, 1970 including leap seconds.
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13.9.1.5 Microseconds
This field provides the sub-second component of time. It is represented as microseconds since the last second. Minimum value is 0 and maximum value is 999999.
13.9.2 Unix Time Packet
Unix Time Packet
Packet ID 21
Length 8
Field #
Bytes Offset
Data Type
Size Description
1 0 u32 4 Unix time seconds, see section 13.9.1.4
2 4 u32 4 Microseconds, see section 13.9.1.5
Table 32: Unix time packet
13.9.3 Formatted Time Packet
Formatted Time Packet
Packet ID 22
Length 14
Field #
Bytes Offset
Data Type
Size Description
1 0 u32 4 Microseconds
2 4 u16 2 Year
3 6 u16 2 Year day, 0 - 365
4 8 u8 1 Month, 0 - 11
5 9 u8 1 Month Day, 1 - 31
6 10 u8 1 Week Day, 0 - 6
7 11 u8 1 Hour, 0 - 23
8 12 u8 1 Minute, 0 - 59
9 13 u8 1 Second, 0 - 59
Table 33: Formatted time packet
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13.9.4 Status Packet
Status Packet
Packet ID 23
Length 4
Field #
Bytes Offset
Data Type
Size Description
1 0 u16 2 System status, see section 13.9.1.1
2 2 u16 2 Filter status, see section 13.9.1.2
Table 34: Status packet
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13.9.5 Remote Unit Track Packet
Remote Unit Track Packet
Packet ID 24
Length 71
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Remote Unit ID
2 1 u8 1 Tracking status, see section 13.9.5.1
3 2 u16 2 Health status, see section 13.9.1.1
4 4 u16 2 System status, see section 13.9.1.2
5 6 u32 4 Unix time stamp seconds, see section 13.9.1.4
6 10 u32 4 Microseconds, see section 13.9.1.5
7 14 fp64 8 Latitude (rad)
8 18 fp64 8 Longitude (rad)
9 22 fp32 4 Height (m)
10 26 fp32 4 Velocity north (m/s)
11 30 fp32 4 Velocity east (m/s)
12 34 fp32 4 Velocity down (m/s)
13 38 fp32 4 Roll (radians)
14 42 fp32 4 Pitch (radians)
15 46 fp32 4 Heading (radians)
16 50 fp32 4 Position standard deviation (m)
17 54 fp32 4 Depth (m)
18 58 fp32 4 Range (m)
19 62 fp32 4 Azimuth (rad)
20 66 fp32 4 Elevation (rad)
21 70 u8 1 Signal Quality Indicator (%)
Table 35: Remote unit track packet
13.9.5.1 Tracking Status
Bit Description
0 Data Connection Active (Status, Velocity and Orientation Valid)
1-7 Reserved (set to zero)
Table 36: Tracking status
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13.9.6 External Position & Velocity Packet
External Position & Velocity Packet
Packet ID 44
Length 64
Field #
Bytes Offset
Data Type
Size Description
1 0 fp64 8 Latitude (rad)
2 8 fp64 8 Longitude (rad)
3 16 fp64 8 Height (m)
4 24 fp32 4 Velocity north (m/s)
5 28 fp32 4 Velocity east (m/s)
6 32 fp32 4 Velocity down (m/s)
7 36 fp32 4 Latitude standard deviation (m)
8 40 fp32 4 Longitude standard deviation (m)
9 44 fp32 4 Height standard deviation (m)
10 48 fp32 4 Velocity north standard deviation (m/s)
11 52 fp32 4 Velocity east standard deviation (m/s)
12 56 fp32 4 Velocity down standard deviation (m/s)
13 60 fp32 4 Delay (s)
Table 37: External position & velocity packet
13.9.7 External Position Packet
External Position Packet
Packet ID 45
Length 40
Field #
Bytes Offset
Data Type
Size Description
1 0 fp64 8 Latitude (rad)
2 8 fp64 8 Longitude (rad)
3 16 fp64 8 Height (m)
4 24 fp32 4 Latitude standard deviation (m)
5 28 fp32 4 Longitude standard deviation (m)
6 32 fp32 4 Height standard deviation (m)
7 36 fp32 4 Delay (s)
Table 38: External position packet
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13.9.8 External Velocity Packet
External Velocity Packet
Packet ID 46
Length 28
Field #
Bytes Offset
Data Type
Size Description
1 0 fp32 4 Velocity north (m/s)
2 4 fp32 4 Velocity east (m/s)
3 8 fp32 4 Velocity down (m/s)
4 12 fp32 4 Velocity north standard deviation (m/s)
5 16 fp32 4 Velocity east standard deviation (m/s)
6 20 fp32 4 Velocity down standard deviation (m/s)
7 24 fp32 4 Delay (s)
Table 39: External velocity packet
13.9.9 External Body Velocity Packet
External Body Velocity Packet
Packet ID 47
Length 20
Field #
Bytes Offset
Data Type
Size Description
1 0 fp32 4 Velocity X (m/s)
2 4 fp32 4 Velocity Y (m/s)
3 8 fp32 4 Velocity Z (m/s)
4 12 fp32 4 Velocity standard deviation (m/s)
5 16 fp32 4 Delay (s)
Table 40: External body velocity packet
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13.9.10 External Heading Packet
External Heading Packet
Packet ID 48
Length 12
Field #
Bytes Offset
Data Type
Size Description
1 0 fp32 4 Heading (rad)
2 4 fp32 4 Heading standard deviation (rad)
3 8 fp32 4 Delay (s)
Table 41: External heading packet
13.9.11 Running Time Packet
Running Time Packet
Packet ID 49
Length 8
Field #
Bytes Offset
Data Type
Size Description
1 0 u32 4 Running time seconds
2 4 u32 4 Microseconds
Table 42: Running time packet
13.9.12 External Time Packet
External Time Packet
Packet ID 52
Length 8
Field #
Bytes Offset
Data Type
Size Description
1 0 u32 4 Unix time seconds, see section 13.9.1.4
2 4 u32 4 Microseconds, see section 13.9.1.5
Table 43: External time packet
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13.9.13 External Depth Packet
External Depth Packet
Packet ID 53
Length 12
Field #
Bytes Offset
Data Type
Size Description
1 0 fp32 4 Depth (m)
2 4 fp32 4 Depth standard deviation (m)
3 8 fp32 4 Delay (s)
Table 44: External depth packet
13.9.14 Heave Packet
Heave Packet
Packet ID 58
Length 16
Field #
Bytes Offset
Data Type
Size Description
1 0 fp32 4 Heave (m)
2 4 12 Reserved (set to zero)
Table 45: Heave packet
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13.10 Configuration Packets
Configuration packets can be both read from and written to the device. On many of the configuration packets the first byte is a permanent flag. A zero in this field indicates that the settings will be lost on reset, a one indicates that they will be permanent.
13.10.1 Packet Timer Period Packet
Packet Timer Period Packet
Packet ID 180
Length 4
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Permanent
2 1 u8 1 UTC synchronisation, see section 13.10.1.1
3 2 u16 2 Packet timer period, see section 13.10.1.2
Table 46: Packet timer period packet
13.10.1.1 UTC Synchronisation
This is a boolean value that determines whether or not the packet timer is synchronised with UTC time, with zero for disabled and one for enabled. For UTC Synchronisation to be enabled the packet timer period must multiply into 1000000 evenly. For example if the packet timer period is 10000 (10 ms), 1000000/10000 = 100 which is valid for UTC synchronisation. If the packet timer period is 15000 (15 ms), 1000000/15000 = 66.6666 which is not valid for UTC synchronisation. To get the rate use the following.
Packet Timer Rate = 1000000/(Packet Timer Period) Hz
13.10.1.2 Packet Timer Period
This is a value in microseconds that sets the master packet timer period. The minimum value is 1000 (1 ms) or 1000 Hz and the maximum value is 65535 (65.535 ms) or 15.30 Hz.
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13.10.2 Packets Period Packet
Packets Period Packet
Packet ID 181
Length 2 + (5 x number of packet periods)
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Permanent
2 1 u8 1 Clear existing packet periods, see section 13.10.2.1
3 2 u8 1 Packet ID
4 3 u32 4 Packet period, see section 13.10.2.2
+ Fields 3-4 repeat for additional packet periods
Table 47: Packets period packet
13.10.2.1 Clear Existing Packets
This is a boolean field, when set to one it deletes any existing packet rates. When set to zero existing packet rates remain. Only one packet rate can exist per packet ID, so new packet rates will overwrite existing packet rates for the same packet ID.
13.10.2.2 Packet Period
This indicates the period in units of the packet timer period. The packet rate can be calculated as follows.
Packet Rate = 1000000/(Packet Period x Packet Timer Period) Hz
For example if the packet timer period is set to 1000 (1 ms). Setting packet ID 20 with a packet period of 50 will give the following.
Packet 20 Rate = 1000000/(50 x 1000)
Packet 20 Rate = 20 Hz
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13.10.3 Installation Alignment Packet
Installation Alignment Packet
Packet ID 185
Length 73
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Permanent
2 1 fp32 4 Alignment DCM[0][0]
3 5 fp32 4 Alignment DCM[0][1]
4 9 fp32 4 Alignment DCM[0][2]
5 13 fp32 4 Alignment DCM[1][0]
6 17 fp32 4 Alignment DCM[1][1]
7 21 fp32 4 Alignment DCM[1][2]
8 25 fp32 4 Alignment DCM[2][0]
9 29 fp32 4 Alignment DCM[2][1]
10 33 fp32 4 Alignment DCM[2][2]
11 37 fp32 4 GNSS antenna offset X (m)
12 41 fp32 4 GNSS antenna offset Y (m)
13 45 fp32 4 GNSS antenna offset Z (m)
14 49 12 Reserved (set to zero)
15 61 fp32 4 External data offset X (m)
16 65 fp32 4 External data offset Y (m)
17 69 fp32 4 External data offset Z (m)
Table 48: Installation alignment packet
13.10.3.1 Alignment DCM
The alignment DCM (direction cosine matrix) is used to represent an alignment offset of Spatial from it's standard alignment. A DCM is used rather than euler angles for accuracy reasons. To convert euler angles to DCM please use the formula below with angles in radians.
DCM[0][0] = cos(heading) * cos(pitch)
DCM[0][1] = sin(heading) * cos(pitch)
DCM[0][2] = -sin(pitch)
DCM[1][0] = -sin(heading) * cos(roll) + cos(heading) * sin(pitch) * sin(roll)
DCM[1][1] = cos(heading) * cos(roll) + sin(heading) * sin(pitch) * sin(roll)
DCM[1][2] = cos(pitch) * sin(roll)
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DCM[2][0] = sin(heading) * sin(roll) + cos(heading) * sin(pitch) * cos(roll)
DCM[2][1] = -cos(heading) * sin(roll) + sin(heading) * sin(pitch) * cos(roll)
DCM[2][2] = cos(pitch) * cos(roll)
13.10.4 System Options Packet
System Options Packet
Packet ID 186
Length 17
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Permanent
2 1 u8 1 Flags, see section 13.10.4.1
10 9 8 Reserved (set to zero)
Table 49: System options packet
13.10.4.1 System Options Flags
Bit Description
0 Acoustics Enabled
1 Acoustic Heading Enabled
2 Magnetic Heading Enabled
3 Automatic Magnetic Calibration Enabled
4-7 Reserved (set to zero)
Table 50: System options flags
13.10.5 Magnetic Calibration Values Packet
This packet can be used to inspect the magnetic calibration values or write custom magnetic calibration values to the system. Under normal operation with automatic magnetic calibration the user should not need to use this packet.
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Magnetic Calibration Values Packet
Packet ID 189
Length 49
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Permanent
2 1 fp32 4 Hard iron bias X
3 5 fp32 4 Hard iron bias Y
4 9 fp32 4 Hard iron bias Z
5 13 fp32 4 Soft iron transformation XX
6 17 fp32 4 Soft iron transformation XY
7 21 fp32 4 Soft iron transformation XZ
8 25 fp32 4 Soft iron transformation YX
9 29 fp32 4 Soft iron transformation YY
10 33 fp32 4 Soft iron transformation YZ
11 37 fp32 4 Soft iron transformation ZX
12 41 fp32 4 Soft iron transformation ZY
13 45 fp32 4 Soft iron transformation ZZ
Table 51: Magnetic calibration values packet
13.10.6 Magnetic Calibration Configuration Packet
This packet allows the user to perform a manual calibration. Under normal operation with automatic magnetic calibration the user should not need to use this packet.
Magnetic Calibration Configuration Packet
Packet ID 190
Length 1
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Magnetic calibration action, see section 13.10.6.1
Table 52: Magnetic calibration configuration packet
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13.10.6.1 Magnetic Calibration Actions
Value Description
0 Cancel magnetic calibration
2 Start 2D magnetic calibration
3 Start 3D magnetic calibration
4 Reset calibration to defaults
Table 53: Magnetic calibration actions
13.10.7 Magnetic Calibration Status Packet
This packet allows the user to perform a manual calibration. Under normal operation with automatic magnetic calibration the user should not need to use this packet.
Magnetic Calibration Status Packet
Packet ID 191
Length 3
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Magnetic calibration status, see section 13.10.7.1
2 1 u8 1 Magnetic calibration progress (%)
3 2 u8 1 Local magnetic error (%)
Table 54: Magnetic calibration status packet
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13.10.7.1 Magnetic Calibration Status
Value Description
0 Magnetic calibration not completed
1 2D magnetic calibration completed
2 3D magnetic calibration completed
3 Custom values magnetic calibration completed
5 2D calibration in progress
6 3D calibration in progress
7 2D calibration error: excessive roll
8 2D calibration error: excessive pitch
9 Calibration error: sensor over range event
10 Calibration error: time-out
11 Calibration error: system error
12 Calibration error: interference error
Table 55: Magnetic calibration status
13.10.8 NMEA Output Configuration Packet
NMEA Output Configuration Packet
Packet ID 195
Length 33
Field #
Bytes Offset
Data Type
Size Description
1 0 u8 1 Permanent
2 1 u8 1 NMEA fix behaviour, see section 13.10.8.1
3 2 u16 2 GPZDA Rates, see section 13.10.8.2
4 4 u16 2 GPGGA Rates, see section 13.10.8.2
5 6 u16 2 GPVTG Rates, see section 13.10.8.2
6 8 u16 2 GPRMC Rates, see section 13.10.8.2
7 10 u16 2 GPHDT Rates, see section 13.10.8.2
8 12 u16 2 GPGLL Rates, see section 13.10.8.2
9 14 u16 2 PASHR Rates, see section 13.10.8.2
10 16 u16 2 TSS1 Rates, see section 13.10.8.2
11 18 u16 2 Simrad Rates, see section 13.10.8.2
12 20 12 Reserved (set to zero)
Table 56: GPIO output configuration packet
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13.10.8.1 NMEA Fix Behaviour
Value Description
0 Normal
1 Always indicate 3D fix when the navigation filter is initialised
Table 57: NMEA fix behaviour
13.10.8.2 GPIO Output Rates
Bit Description
0-3 Port 1 (TCP:16722) rate, see 13.10.8.3
4-7 Port 2 (TCP:16723) rate, see 13.10.8.3
8-11 Port 3 (TCP:16724) rate, see 13.10.8.3
12-15 Port 4 (TCP:16725) rate, see 13.10.8.3
Table 58: GPIO output rates
13.10.8.3 GPIO Output Rates Index
Value Bit 3 Bit 2 Bit 1 Bit 0 Description
0 0 0 0 0 Disabled
1 0 0 0 1 0.1 Hz
2 0 0 1 0 0.2 Hz
3 0 0 1 1 0.5 Hz
4 0 1 0 0 1 Hz
5 0 1 0 1 2 Hz
6 0 1 1 0 5 Hz
7 0 1 1 1 10 Hz
8 1 0 0 0 25 Hz
9 1 0 0 1 50 Hz
Table 59: GPIO output rates index
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