Alvin In-hull Navigation Data Log Files - DVLNAV ".CVS" FILES ______________________________________________________________________________ COMMA-DELIMITED LOG FILES for SPREADSHEET LOADING: These files provide a simple comma-delimited ASCII data log of the vehicle's basic navigation and scientific sensor data. File names encode the year, month, day, hour, and minute that the log file was created, and has a ".CVS" suffix. Data is logged at one hertz. The ASCII format is designed to be easily imported into standard spreadsheet programs. The data columns are labeled. The comma-delimited ASCII log files contain repeated entries once a second for sensor and navigation data, and also for information such as local XY origin and sound velocity. Parameters such as local XY origin can be changed by the DVLNAV user on-the-fly, thus it is important to log the values continuously. A new .CSV log file is opened when the DVLNAV program starts. Thereafter, DVLNAV will write into the same file until midnight GMT. At midnight GMT, the current .CSV log file is closed and a new log file is opened. ________________________________________________________________________________ DATA LOG FILES NAMES: The name of the .CSV log file encodes the year, month, day, hour, and minute that the log file was opened. For example, the file "2002_04_26_0112.CSV" was opened on year 2002, month 4 (April), day 26, at 01:12 GMT. ________________________________________________________________________________ DATA DESCRIPTION - DATA FIELDS: DATA Units -------------------------- ---------------------------------------- Alvin Dive Number Integer Year Integer GMT Month Integer 1-12 GMT Day Integer 1-31 GMT Hour Integer 0-23 GMT Minute Integer 0-59 GMT Second Decimal, 0.000 - 0.999 GMT Second Since Midnight Decimal, 0.000 - 86399.999 GMT Depth Meters, decimal Altimeter Altitude from Paroscientific Altimeter. Meters, decimal Paroscientific should return 300.0 when altitude is bad due to loss of bottom-lock, but in practice, it often returns incorrect values between 0 and 300 when bottom lock is lost. Use carefully. Gyro Heading Degrees, decimal, 0.00-359.99. Gyro Heading Tag String, "T" for True, "M" for Magnetic. The gyro will normally be an OCTANS unit that can only return TRUE heading. Gyro Status Integer. A value of zero indicates normal gyro operation. Nonzero values indicate various errors. When the octans is first powered up, the status word is non-zero for 2-5 minutes while the unit finds north. Doppler Heading Doppler Mag Compass Heading, Corrected To True, Degrees, decimal. Doppler Heading Tag String, "T" For True, "M" For Magnetic. Pitch Degrees, signed decimal Positive is bow up. Negative is bow down. Attitude source is selectable. Normally it is the Octans. Roll Degrees, signed decimal. Positive is starbord side down. Negative is starbord side up. Attitude source is selectable. Normally it is the Octans. Lbl X Meters, decimal. Local XY coords, Pos=East, Neg=West. Lbl Y Meters, decimal. Local XY coords, Pos=North, Neg=South. Lbl Depth Meters, decimal. Depth used in LBL solution computation. Lbl X UTM Meters, decimal. Note: UTM is not parallel to XY or Lat/Lon. Lbl Y UTM Meters, decimal. Note: UTM is not parallel to XY or Lat/Lon. Lbl Lat Degrees, decimal. Pos=North, Neg=South. Lbl Lon Degrees, decimal. Pos=East, Neg=West. Lbl Mode 0=two transponder mode, 1=full auto mode Lbl Baseline String: "AB", "AC", etc... Unused in "full auto" mode. Lbl Side String: "CW", "CCW", "ON_BASELINE", "SIDE_UNKNOWN". Unused in "full auto" mode. Lbl Status Status of this LBL fix, integer: RANGE_UNKNOWN = 0 <- bad RANGE_GOOD = 1 <- this means a good fix RANGE_OLD = 2 <- bad RANGE_TOO_LONG = 3 <- bad RANGE_TOO_SHORT = 4 <- bad RANGE_FAILED_MEDIAN = 5 <- bad RANGE_HIGH_ERROR = 6 <- bad Lbl Fix Time Decimal, second of day. Dop X Meters, decimal. Local XY coords, Pos=East, Neg=West. Dop Y Meters, decimal. Local XY coords, Pos=North, Neg=South. Dop X UTM Meters, decimal. Note: UTM is not parallel to XY or Lat/Lon. Dop Y UTM Meters, decimal. Note: UTM is not parallel to XY or Lat/Lon. Dop Lat Degrees, decimal. Pos=North, Neg=South. Dop Lon Degrees, decimal. Pos=East, Neg=West. Dop Altitude Doppler altitude. Average of up to four good beams. May be inaccurate on slopes. Dop Temperature Doppler's ambient temperature sensor. Centigrade. Dop Status Method of this Doppler fix, integer: NONE (bad) = 0 BOTTOM TRACK = 1 WATER TRACK = 2 Dop Fix Time (Second Of Day) Decimal, second of day. Dop Reset Time (Second Of Day) Decimal, second of day. Low Temp Decimal, Degrees C. High Temp Decimal, Degrees C. ICL Temp Decimal, Degrees C. Maggie X Decimal, Gauss. Maggie Y Decimal, Gauss. Maggie Z1 Decimal, Gauss. Maggie Z2 Decimal, Gauss. Maggie time (second of day) Decimal, second of day. CTD C Decimal, Seimens per meter. CTD T Decimal, Degrees C. CTD D Decimal, meters. Sound velocity Decimal, meters per second. Local XY origin Lat Decimal, Degrees. Pos=North, Neg=South. Local XY origin Lon Decimal, Degrees. Pos=East, Neg=West. UTM Zone Integer. Time zone Integer, Neg=West of GMT, Pos=East of GMT. This is for curiosity only, all times appearing in log file are GMT. No local times appear in the log files Local magnetic variation Decimal, Degrees. Pos=East, Neg=West. True Hdg = Mag Hdg + Local Mag Var Salinity Decimal, parts per thousand. Target # Numerical number of target Target Label Text label of target, from INI file or "New Target #" for newly dropped targets . Target Time String From ini file, or YYYY/MM/DD HH:MM:SS.SSS for newly dropped targets . Target X Meters, decimal. Local XY coords, Pos=East, Neg=West. Target Y Meters, decimal. Local XY coords, Pos=North, Neg=South. Target Depth Meters, decimal. Depth used in LBL solution computation. Target X UTM Meters, decimal. Note: UTM is not parallel to XY or Lat/Lon. Target Y UTM Meters, decimal. Note: UTM is not parallel to XY or Lat/Lon. Target Lat Degrees, decimal. Pos=North, Neg=South. Target Lon Degrees, decimal. Pos=East, Neg=West. ____________________________________________________________________________________________ COORDINATE FRAME CONVENTION SPECIFICATION: Attitude Conventions are a right handed, naval architecture standard. Vehicle axes, fixed rigidly in the vehicle are defined as: X forward Y starboard Z down. Heading is TRUE compass heading. Positive roll is starboard side down. Positive pitch is bow up. Heading is positive rotation about the Z axis. Roll is positive rotation about the X axis. Pitch is positive rotation about the Y axis. The rotation matrix from vehicle frame to the ZERO frame defined as: ZERO frame: X North Y East Z Down, normal to earth surface. is computed as follows: /* rotation about X azis by ROLL radians */ n_mat_t rx = {{ 1.0, 0.0, 0.0, 0.0 }, { 0.0, cos(r), -sin(r), 0.0 }, { 0.0, sin(r), cos(r), 0.0 }, { 0.0, 0.0, 0.0, 1.0 }}; /* rotation about Y axis by PITCH radians */ n_mat_t ry = {{ cos(p), 0.0, sin(p), 0.0 }, { 0.0, 1.0, 0.0, 0.0 }, {-sin(p), 0.0, cos(p), 0.0 }, { 0.0, 0.0, 0.0, 1.0 }}; /* rotation about Z axis by HDG radians */ n_mat_t rz = {{ cos(h), -sin(h), 0.0, 0.0 }, { sin(h), cos(h), 0.0, 0.0 }, { 0.0, 0.0, 1.0, 0.0 }, { 0.0, 0.0, 0.0, 1.0 }}; vehicle_to_zero = rx * ry * rx _____________________________________________________________ OCTANS STATUS INDICATOR: The bit map of the Octans heading and atitude sensor status word is: Bit 0 Heading not valid Bit 1 Roll not valid Bit 2 Pitch not valid Bit 3 Position (Heave, surge and sway) not valid Bit 4 Position calculation starting Bit 5 Initialization Bit 6 Reserved Bit 7 Reserved Bit 8 FOG X1 Error Bit 9 FOG X2 Error Bit 10 FOG X3 Error Bit 11 Optical source error Bit 12 Accelerometer X1 error Bit 13 Accelerometer X2 error Bit 14 Accelerometer X3 error Bit 15 Analog input A or B error Bit 16 Serial input A error Bit 17 Serial input B error Bit 18 Serial input C error Bit 19 FIFO Full Bit 20 Serial output A full Bit 21 Serial output B full Bit 22 Serial output C full Bit 23 Manual log used Bit 24 Manual latitude used