Snapshots - Klein 3000 Series Operation And Maintenance Manual

VFd:
WFd:
An example command:
would select the medium despeckler kernel.
For AUV applications the system accepts a custom navigation data message that
combines all the pertinent data into a single string for convenience. This data is
merged with the sonar data on a per ping basis. The data is input to the system
using a $PAUV message. The format of the message is as follows:
$PAUV,hhmmss.ss,S,llll.ll,a,yyyy.yy,a,v.vv,h.h,pp.p,rr.r,dd.d,aa.a,ddmmyyyy*hh<
CR>LF>
where the fields are, in order:
time, status, latitude, N/S, longitude, E/W, speed in m/s, course, pitch in degrees,
roll in degrees, depth in meters, altitude in meters, and date.
B.4 Snapshots
The system is capable of outputting image snapshots for use in equipment health
monitoring. These snapshots are decimated images of the current imagery data.
Five different sizes are supported so as to meet the limitations of varying acoustic
or RF telemetry links between the AUV and the mother ship. The data is output in
a simple raster format. After issuing the DS command a sequence of NMEA
messages are output. Each message has the form
where the xxxxx.xxx represents the data. The data is 8 bits, and each 8-bit value is
represented by a two character hexadecimal ASCII representation. A new SI
command overwrites any previous data. Be sure to issue a DS command before
issuing a new SI command unless the data from the previous SI command can be
discarded.
the output of the snapshot data.
Turn velocity filter on|off, where d = 0 is off and d = 1 is on.
Default is on.
Set transmit waveform, where d = 0 is 50 µs, d = 1 is 100 µs
and d = 2 is 200 µs. Default = 50 µs
$PKLA,DM2*5E<CR><LF>
$PKLA,SIxxxxxx.....xxx*hh<CR><LF>
NOTE The heartbeat message is turned off on during the output of the
snapshot data. It is restored to its previous value upon completion of the
data dump. This is done to prevent the output of a heartbeat message during

Snapshots

B-9